Position Protection

[Anchoret13]

Hi, I'm trying to provide low level command to robot, and press L2+A L2+A L2+B L1+L2+start to enter the low-level mode, and when I run roslaunch, I keep getting Position Protection Error like this:
leg 0 calf: -159.495187
leg 1 calf: -158.930801
leg 2 calf: -157.501350
leg 3 calf: -159.381854
Error: Position Protection.

And I'm not able to provide low-level command to the robot. Could you help me with that?

[hakieh]

Hello! Has the problem been solved? I have also encountered the same problem

[Nephritebin]

You need to adjust the initial angles of robot joints in some appropriate intervals to make the code work. (I need to lift it and set the angles just like the robot is standing on the ground without any motor output.) However, I don't think it is suitable for real locomotion control since the position protection may occur during each movement although the movement seems safe. But I don't know how to solve it.