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unitreerobotics / unitree_ros

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Wrong parameters with B1 gazebo #66

Open zzhou387 opened 1 year ago

zzhou387 commented 1 year ago

Hi,

Some issues I found with B1 simulation in gazebo:

  1. The namespace is wrong: https://github.com/unitreerobotics/unitree_ros/blob/26ceaa85d0725c4f849272840d0eca9b6ebcd01c/robots/b1_description/xacro/gazebo.xacro#L6 It's supposed to be b1_gazebo
  2. The joint limits seem to be very wrong: https://github.com/unitreerobotics/unitree_ros/blob/26ceaa85d0725c4f849272840d0eca9b6ebcd01c/robots/b1_description/xacro/const.xacro#L73 The peek torque is reported to be 210 Nm on the website.
  3. For some reason, the estimated torque from gazebo is always clamped to be under 55 Nm. I found this magic number coming from the aliengo specs. However, I'm not sure where to change this magic number since it's clearly not loaded from the xacro or urdf. Here's a screenshot I took when I was trying to send a command higher than 55 Nm. GetImage

These should all be easy fix and thanks in advance.

xiaoliangstd commented 1 year ago

hello,

  1. for the first question: we have corrected the micro problem of b1_description in the newest push .
  2. The peak torque is reported to be 140 Nm on the website, which corresponds correctly to the URDF.
  3. we are checking this problem.
zzhou387 commented 1 year ago

hello,

  1. for the first question: we have corrected the micro problem of b1_description in the newest push .
  2. The peak torque is reported to be 140 Nm on the website, which corresponds correctly to the URDF.
  3. we are checking this problem.

Thanks. Any updates on the third problem?

xyq1223 commented 1 year ago

@zzhou387 Hello, there may be a problem with the emulator settings, because the peak torque in our urdf file is 140 Nm, we have discussed it with our R&D colleagues, and we will give you an answer within a week.

zhthree3 commented 1 year ago

@zzhou387 Hello, there may be a problem with the emulator settings, because the peak torque in our urdf file is 140 Nm, we have discussed it with our R&D colleagues, and we will give you an answer within a week.

Any updates?

zzhou387 commented 1 year ago

@zzhou387 Hello, there may be a problem with the emulator settings, because the peak torque in our urdf file is 140 Nm, we have discussed it with our R&D colleagues, and we will give you an answer within a week.

Hello, it has been a while. Could you provide some updates on this?