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qiayuanl / legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
BSD 3-Clause "New" or "Revised" License
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The angle of the legs in the go1 simulation is wrong. #53

Open miyamiyamon opened 10 months ago

miyamiyamon commented 10 months ago

Hello. @qiayuanliao unitree_description empty_world.launch

The leg angle of go1 in the simulator appears to be 90 degrees different from the initial position. Can you tell me how to improve this?

IMG_3686

Freaky1122 commented 7 months ago

Have you solved this problem?I met the same question

LeonardoGMoraes commented 7 months ago

Did someone solve this? I have the same problem.

linzuen commented 7 months ago

You can try to modify the parameters of https://github.com/qiayuanl/legged_control/blob/master/legged_examples/legged_unitree/legged_unitree_description/urdf/common/leg.xacro#L189-L190 to 0.2

miyamiyamon commented 5 months ago

Thanks!! I was able to run the simulation.