G1 falls over

[dcmcshan]

I have this built and running for G1, but by default, the simulated robot just keels over and falls to the ground. Is there a simulated controller for basic stability?

Thank you!

[wuxiaoqiang12]

You have to set ENABLE_ELASTIC_BAND to True in config for simulation. But I don't know how to reset it to false when start control the simulated robot with joystick.

[dcmcshan]

Fundamentally, I expected that the factory motion controller would be available. I would like to have a sim environment for the factory setup - apparently this is not possible.

[15380831711]

Has same problem

[z18710650185-png]

你可以在unitree_mujoco/simulate/config.yaml文件中将最后一行的enable_elastic_band: 设置为1就可以使用了