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robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
https://robomechanics.github.io/quad-sdk/
MIT License
736 stars 137 forks source link

The UnitreeB1 robot (50kg, 1126467636mm) cannot stand completely when using the stand command. #412

Open nanbwrn opened 10 months ago

nanbwrn commented 10 months ago

hello everyone,

After I successfully loaded the B1 robot in Rviz, I sent the stand command to the robot. However, I found that the robot couldn't stand completely. I followed the steps in the wiki to add the robot and also added the b1.yaml file as shown in the following image:

024b6644079bfc334c232ab431bfdc7

1f7203c28b79baa8d31aad90f702f48

I generated the dynamics C++ code for the B1 robot. When I execute the motion planning command, the result is as shown in the following image. It seems that the issue may be caused by the robot standing normally.

B1_quad_sdk_02

I've seen people make the robot stand normally by changing the initial origin of the rpy of knee joint in the URDF. However, when I continuously modify this joint's starting angle, I find that the robot still cannot stand. Do you have any other debugging methods, and how can I solve this issue?

erika-24 commented 9 months ago

Hi, have you looked at the torque_limit parameter in the quad_utils/config/.yaml file? These limits may be set too low for your heavy robot to stand fully.

ologandavid commented 9 months ago

Just checking in, on if you figured out a solution to this? Otherwise I'm gonna close this issue as resolved.

Best, David Ologan

nanbwrn commented 9 months ago

hi，@erika-24 @ologandavid I have made multiple attempts and increased the value of the torque_limit parameter several times. Unfortunately, after running the command, the robot still couldn't stand up completely, and its state seems to be the same as before without modification. I adjusted the values of Kp and Kd in the file, but it seems to have little effect. Has anyone encountered a similar situation? thank you everyone.

ologandavid commented 8 months ago

Would you be willing to share me the code that you're working with in sim, I can take a look and see if I can deduce whats causing your issue.

Best, David Ologan

nanbwrn commented 8 months ago

hi, @ologandavid Thank you for your help. As I'm not very familiar with how to upload folders to GitHub, I have sent the code to your Google email in a compressed file. If it's convenient, could you please take a look at the Google email? My Google email is xiangzhang870@gmail.com. If you haven't received it, please let me know. Thank you.