Qiayuan Liao

I am in China, the foreign network speed, but I use shadowsocks to accelerate.When I used the Precompiled Drake, the Cloning into 'vtk'... was very fast, I don't understand?

What files path the Compiler clone into?

Well after about 6 hours clone, I compiled successfully, can we add a progress bar about clone?

`but the motors are jittering back and forth.` Can you provide videos of the real robot and RViz?

I am sorry that I don't have experience with either Go1 or arm64. Maybe we need to wait for someone who has the same problem.

Can you run a1 without error? If true, I am sure that you didn't need to modify legged_hw_sim_plugins.xml. I guess there is some problem in your go1 URDF.

> There is no error in running a1. Here is the urdf file of go1. Can you help me check it? [go1.txt](https://github.com/qiayuanliao/legged_control/files/9685919/go1.txt) Don't send me the generated URDF file.

> When I modify the robot.xacro file and generate the urdf file, it cannot run successfully. What kind of modification?

>   The simulation launch file requires a ".xarco" file, and the OCS2 requires a ".urdf" file. How can you run the controller successfully without "go1.urdf"?

Maybe you can ask #9 for help.