Hello!. Recently my Unitree A1 started to behave strangely - when turned on, it gets up and, almost straightening up, falls to the floor at a right angle. After that, it is impossible to lift it in Normal mode, you always have to switch to Sport. Then it gets up and behaves according to commands, but at the same time, being in Sport mode, it moves to the right when walking and generally leans slightly to the right side. I tried to calibrate it according to the instructions, but when calibrating the IMU, the right front leg does not return to its original position after turning off the power, although it enters the zero force mode correctly. I took logs using the program specified in the Instructions and, just in case, in Putti and am sending them to you. Please help me with the settings. I did not add any scripts to the SDK and did not correct the Ubuntu settings, but I tried to calibrate it - it does not respond to commands with the R1 and R2 keys.
My log:
Motor lose connect (/100ms):
FR 0 0 0 ; 3 2 3 ; Joint-> -0.2900 1.1014 -2.7120
FL 0 0 0 ; 3 3 3 ; Joint-> 0.3005 1.1043 -2.7287
RR 0 0 0 ; 3 3 3 ; Joint-> -0.1757 1.1048 -2.6704
RL 0 0 0 ; 3 3 3 ; Joint-> 0.2711 1.0750 -2.6984
IMU :: Roll = -0.0072, Pitch = 0.9841, Yaw = 15.6859
Foot Force :: [FR_] = -1.35, [FL_] = -1.51, [RR_] = -1.57, [RL_] = -3.49
GamePad CMD:: 0.00, 0.00, 0.00, -0.00
RobotVersion = 400
Firmware_version = 1000200525
HardwareVersion = 1000200420
Motor lose connect (/100ms):
FR 0 0 0 ; 5 4 5 ; Joint-> -0.2900 1.1018 -2.7120
FL 0 0 0 ; 5 4 5 ; Joint-> 0.3002 1.1043 -2.7287
RR 0 0 0 ; 5 5 5 ; Joint-> -0.1757 1.1042 -2.6705
RL 0 0 0 ; 5 5 5 ; Joint-> 0.2711 1.0755 -2.6985
IMU :: Roll = -0.1330, Pitch = 0.9901, Yaw = 15.7507
Foot Force :: [FR_] = 0.68, [FL_] = -3.01, [RR_] = -2.53, [RL_] = -3.49
GamePad CMD:: 0.00, 0.00, 0.00, -0.00
RobotVersion = 400
Firmware_version = 1000200525
HardwareVersion = 1000200420
Motor lose connect (/100ms):
FR 0 0 0 ; 7 7 7 ; Joint-> -0.2900 1.1014 -2.7120
FL 0 0 0 ; 7 7 7 ; Joint-> 0.3001 1.1045 -2.7287
RR 0 0 0 ; 7 7 7 ; Joint-> -0.1757 1.1059 -2.6705
RL 0 0 0 ; 7 6 7 ; Joint-> 0.2711 1.0753 -2.6985
IMU :: Roll = 0.1341, Pitch = 1.0733, Yaw = 15.5224
Foot Force :: [FR_] = -2.34, [FL_] = -2.01, [RR_] = -1.86, [RL_] = -3.94
GamePad CMD:: 0.00, 0.00, 0.00, -0.00
RobotVersion = 400
Firmware_version = 1000200525
HardwareVersion = 1000200420