GaitTypes not working properly

[Velt1]

I have the Go1 EDU and the GaitType CLIMB_STAIR acts like the running mode. The TROT_OBSTACLE makes my robot walk very weird, like it would fall every moment. And I also wanted to ask what the Speed Levels do?

[MAVProxyUser]

@Velt1 what is the expected behavior? Does the normal Unitree SDK do something different? Please verbosely explain what happens when you attempt the same thing via the OEM SDK.

Could be a typo. Edit enums.py and set TROT_OBSTACLE to 4, and try again. Let me know the result of your test.

[Velt1]

Yeah it works like that:
class GaitType(Enum):
IDLE = 0
TROT = 1
TROT_RUNNING = 2
CLIMB_STAIR = 3
TROT_OBSTACLE = 4

But do I have to pay attention to some parameters when using the climb stairs mode?
Because sometimes it just falls down

[MAVProxyUser]

How does it behave with Unitree SDK? I suspect the safety limits are getting triggered perhaps? Someone needs to put some initiative in to implementing them. #7

[MAVProxyUser]

First issue was fixed here. a83f21c after testing with the normal SDK, let us know how it handles, and open a new issue if you think the Safety Limits are being exceeded, or something else causing the falling. do you have any log file entries when this happens from the dog?