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

[nanbwrn]

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:

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.

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]

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]

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]

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]

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]

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 [email protected].
If you haven't received it, please let me know. Thank you.