The center of pressure always offset, How to solve it?

[zhuiyuehun]

Hello,Mr Liao, I apply to go1 robot , as the title describes, the center of gravity always offset,even if I adjust to the middle position when it on stance mode, but change the mode to “trot”,it offset too.
And second question , The order of force data of “current state.input” is “LF LH RF RH” ,or. ”LF RF LH RH ”?

[qiayuanl]

There may be a bias in imu's orientation output. Or the CoM of Go1 is not in the geometry center of the torso.

LF, LH, RF, RH.

[zhuiyuehun]

Thank for your answer. If the center of gravity is not at the geometric center and offset so large distance, Can this repository handle it?

[qiayuanl]

Yes