Robot doesn't stand up with example code

[ValentinLeglise]

Hello @geekflyfly @yyang0802 @panzl0708

I am discovering this SDK and I am following the READ ME to do my first step with the robot.

I've managed to send a reset command to the joints (chapter 7.1). I moved on to the next chapter 7.2 to make the robot stand up. I removed the comment on line 73 and recompiled as indicated (deleting the build folder and creating a new one). Despite all this, the robot resets its joints but doesn't stand up. What should I do to correct this?

You can see a video of the robot's behavior just below:

WhatsApp.Video.2025-04-18.at.16.36.33.mp4

Thanks in advance for your help

[panzl0708]

Hi @ValentinLeglise ,

Which branch of SDK did you use, C++or Python？Is there IMU data reported on the terminal when running the SDK？As shown in the following images

C++

Python

If the IMU data are 0 and the connection between PC and robot are fine (refer 5 and 6) , please reboot the PC and robot, then retry it.

[ValentinLeglise]

Hello @panzl0708

Thank you for your response.

I am using the C++ branch. There is IMU data when I run the SDK, but there are all 0 (as you can see on the image)

I have tried to reboot the robot multiple times but it still doesn't work. I don't think it is a communication problem because when I run the SDK, the legs of the robot are well reset (like you can see in the previous video).

Maybe its a code problem ?

Thanks in advance for your help

[panzl0708]

Hi @ValentinLeglise

When I run the SDK on my own Lite3, the robot is reset, then stan up and running normally with IMU data feedback.

I think it shouldn't be a problem with the code. You can try to re-start the robot and re-cmake this SDK and run it again!

If the robot still won't stand up, please let me know.

[ValentinLeglise]

Hi @panzl0708

Thank you for your message.

Unfortunately, it still doesn't work. I have re download the SDK, with the main branch. I have modified the IP address 192.168.1.120 to 192.168.2.1 in network.toml (while SSH), and in the main.cpp. I have uncommented line 73 to send command. Then I have compiled and run, but I have the same issue (but now, with the new SDK I download, I don't see any IMU data (not the 0 like before)

What can I do ?

[panzl0708]

Can you tell me the version of the jy_exe for the robot? Use the dpkg -l jy_exe command to check it.

[fYoghurt]

我也遇到了同样的问题。使用当前仓库的代码，在我的开发主机上编译后启动，机器狗的姿态和前面的视频拍摄情况完全一致，无法站立起来。
但是在机器狗的主机内，直接运行Lite_Motion， 却可以正常站立。 是两者库差异导致的吗？该如何解决？
jy_exe 2.0.153 arm64

I also encountered the same problem. Using the code from the current repository, after compiling and starting on my development host, the machine dog's posture is exactly the same as in the previous video, and it cannot stand up. However, when running Lite_Motion directly on the machine dog's host, it can stand normally. Is it due to differences between the two code repositories? How can I fix it?
jy_exe 2.0.153 arm64

[ianL123]

我也遇到了相同的问题，我使用的是python版本，狗的行为和视频中的一样，只有回零动作而没有站起来。我的运动机器版本如下：

Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name Version Architecture Description
+++-==============-============-============-==========================================================================>
ii jy_exe 2.0.153 arm64 Project built using CMake. Pushed on 2024-12-02 15:12:07 +0800, make time >

I got same problem with python version. My version of robot is as above.

同时，今天在尝试使用sudo nmtui将狗和WiFi连接之后，狗自带的p2pWiFi变得不可用，即使强行想要连接记录的YSC-JYML开头的网络也会显示Could not activate connection: Activation failed: The Wi-Fi network could not be found。这之后，按照之前可以进行回零动作的方式操作，在ssh连接成功的情况下，狗也不进行任何动作，但是imu数据依然不完全为0，如下（每次启动具体数值不一定一样）：

joint_pos:
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
imu_acc:
0.001 0.0 0.002
joint_pos:
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
imu_acc:
0.001 0.0 0.002
......

Further, after connecting my dog with other wifi with sudo nmtui, the origin p2p wifi of dog turned not useable for me. The dog even do not PreStandUp after this. However, the imu data is not always zero.

[algo-scope]

same to me!
as my observation, in the original code

if(is_message_updated_){
      send_cmd->SendCmd(robot_joint_cmd);  
    }

is_message_updated_ is always false.
when I use send_cmd->SendCmd(robot_joint_cmd); only, it works , this is dangous, don't do this like me !!!

[SunWen1998]

我也是完全相同的问题，报错：98 : Cannot bind the socket

[SunWen1998]

我也是完全相同的问题，报错：98 : Cannot bind the socket

找到原因了，是因为防火墙设置，没开放端口导致的