B1 在gazebo中出现的问题

[FreedomLIULI]

在ubuntu20的gazebo中仿真go1和go2正常，但是B1无法正常仿真，模型可以正常导入，但是控制其站立时会前脚离地，控制其运动时会报错，出现The setTau function meets Nan，大家是否有控制方法，可否指点一下，谢谢

[glmzsemanur]

I am having the same problem, <[ERROR] The setTau function meets NaN> occurs with A1. This error does not occur in an empty world. It started happening after I implemented a world spawn. What's interesting is, the error is not always present. Sometimes it works fine, sometimes the I have to shut down the launch because of this error.

I could not solve the problem nor was able to find the source. All I do is re-launch.