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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
270 stars 156 forks source link

Calf Position Protection #131

Open Anchoret13 opened 6 months ago

Anchoret13 commented 6 months ago

We are in low-level development mode (L2+A, L2+A, L2+B, L1+L2+START, the robot is lying on the ground), and trying to run our low-level control script on it. But when we run a roslaunch, we keep geeting Position Protection Error, is that supposed to happen? Sample output:

leg 0 calf: -159.495187 leg 1 calf: -158.930801 leg 2 calf: -157.501350 leg 3 calf: -159.381854 Error: Position Protection.

guyo-shifters commented 5 months ago

I also have the same problem (sometimes, maybe depending on the exact leg placement when starting)