The angle of the legs in the go1 simulation is wrong.

[miyamiyamon]

Hello. @qiayuanliao
unitree_description empty_world.launch

The leg angle of go1 in the simulator appears to be 90 degrees different from the initial position. Can you tell me how to improve this?

[Freaky1122]

Have you solved this problem?I met the same question

[LeonardoGMoraes]

Did someone solve this? I have the same problem.

[linzuen]

You can try to modify the parameters of https://github.com/qiayuanl/legged_control/blob/master/legged_examples/legged_unitree/legged_unitree_description/urdf/common/leg.xacro#L189-L190 to 0.2

[miyamiyamon]

Thanks!! I was able to run the simulation.