./simulate/build/unitree_mujoco Wrong

[Sun-Gene]

Thank you for your excellent work.

Currently, I am running ./simulate/build/unitree_mujoco in Terminal 1. Before I even open Terminal 2 to execute any commands, the robot has already fallen onto its back—as shown in the image—with its legs lifted upwards. Even after I execute the command in Terminal 2 and press the L2 + Up buttons, the robot merely shifts to lying flat on its back in a right-side-up orientation; it remains unable to stand. This inability to stand prevents the robot from performing any actions, regardless of which mode it enters; it simply lies there moving erratically. I suspect this issue is related to the initialization state of MuJoCo (./simulate/build/unitree_mujoco). What could be the cause?

[klavier1127]

You can first try pressing the reset button on the side. In many cases, that is enough to recover the robot to a normal initial state.

Another option is to modify the enable_elastic_band parameter in the config file. When this option is enabled, the robot can be suspended in the simulation environment. You can press 9 on the keyboard to lift up or put down the robot in simulation.