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unitreerobotics / unitree_ros

BSD 3-Clause "New" or "Revised" License
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Robot slides by himself #57

Open JulienRineau opened 1 year ago

JulienRineau commented 1 year ago

When running roslaunch unitree_gazebo normal.launch rname:=go1 wname:=stairs the robot slides on the ground even without doing any movements. Is there any way to fix this ?

jmsalash commented 1 year ago

I think this has to do with the simulated wind in gazebo. Disable it and it should go away

aatb-ch commented 1 year ago

it is, can confirm, somehow the scene has wind enabled.

MrGriv commented 1 year ago

It doesn't work https://youtu.be/1DTEu-J1l0A

xyq1223 commented 1 year ago

Hello,please start the robot dog controller at the same time as you start-up procedure.This effectively solves the robot slides on the ground.

Sergim96 commented 1 year ago

I experienced a similar issue when running the B1 simulation.

I managed to solve it by removing the calf rotor collision in the leg xacro, apparently it was causing internal collisions and resulting in an unstable simulation.

I think this is the same issue you might be experiencing in Go1.