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v1.1.1; fix base vel calc bug, fix last_torque reset bug

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wty-yy
2026-01-13 12:12:43 +08:00
parent a82f3d8930
commit a96ce5e350
7 changed files with 26 additions and 8 deletions
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resources/robots/go2/go2.xml
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@@ -64,6 +64,7 @@
<worldbody>
<body name="base_link" pos="0 0 0.445" childclass="go2">
<!-- <body name="base_link" pos="0 0 0.445" quat="0.707 0 0 0.707" childclass="go2"> -->
<!-- <body name="base_link" pos="-5 1.2 0.445" childclass="go2"> -->
<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719"
mass="6.921"