Open nanbwrn opened 9 months ago
Hi, can you send the reference.info file of your robot?
targetDisplacementVelocity 0.25; targetRotationVelocity 0.5;
comHeight 0.30 ; Unitree Go1 Default Spec: 0.325 -> 0.31
defaultJointState { (0,0) 0.00 ; LF_HAA | Original: -0.20 (1,0) 0.72 ; LF_HFE | Original: 0.72 (2,0) -1.44 ; LF_KFE | Original: -1.44 (3,0) 0.00 ; LH_HAA | Original: -0.20 (4,0) 0.72 ; LH_HFE | Original: 0.72 (5,0) -1.44 ; LH_KFE | Original: -1.44 (6,0) 0.00 ; RF_HAA | Original: 0.20 (7,0) 0.72 ; RF_HFE | Original: 0.72 (8,0) -1.44 ; RF_KFE | Original: -1.44 (9,0) 0.00 ; RH_HAA | Original: 0.20 (10,0) 0.72 ; RH_HFE | Original: 0.72 (11,0) -1.44 ; RH_KFE | Original: -1.44 }
initialModeSchedule { modeSequence { [0] STANCE [1] STANCE } eventTimes { [0] 0.5 } }
defaultModeSequenceTemplate { modeSequence { [0] STANCE } switchingTimes { [0] 0.0 [1] 1.0 } }
When I run the simulation with the Go1 robot, I've noticed that the robot's leg positions are normal when it's standing. However, when it starts walking with trot gait, I observe that its rear two legs splay outward as it moves. When I run it on the actual robot, this strange phenomenon also occurs. How should I make modifications to address this issue? Thank you, everyone.
Below is a simulation video for reference.
https://github.com/qiayuanliao/legged_control/assets/132453617/2cad5884-ba9a-4d5e-ae84-df9c6c70c2ea