Add Agibot D1#111
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fan-ziqi
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Dec 23, 2025
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这个目前看下来主要问题是这个导致的
| # "right_elbow_pitch_joint", # 25 R_ELBOW | ||
| # "right_elbow_roll_joint", # 26 R_WRIST_ROLL | ||
| # ] | ||
| # 29个控制关节（与URDF中的实际名称匹配） |
| # ] | ||
| # 29个控制关节（与URDF中的实际名称匹配） | ||
| joint_names = [ | ||
| # 腿部关节 (12个) |
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这个函数写成与原来名称一样的函数，只不过添加一个参数move_down_threshold，默认值为原来函数的0.5，在你需要使用0.1的时候在cfg里改，不要写成两个函数，有点冗余
lovelyyoshino
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没啥其他的问题了，这个PR就提交D1吧，G1先删掉吧，等可以再拆出来PR |
lovelyyoshino
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fabeha-raheel
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May 11, 2026
Co-authored-by: mpl9725440@163.com <mpl9725440@163.com>
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Description
This update aims to add functionality for Zhiyuan D1 and resolve the issue where G1 fails to start. After analysis, it was found that the startup failure of G1 was due to improper parameter settings in the configuration file. By adjusting the relevant parameters, the issue has been successfully resolved, allowing G1 to start smoothly.
The motivation behind this change is to enhance system stability and user experience, ensuring that users do not encounter startup obstacles when using G1. Additionally, the addition of Zhiyuan D1 functionality will provide users with more operational options and flexibility.
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pre-commitchecks withpre-commit run --all-filesCONTRIBUTORS.mdor my name already exists there