ocs2实机机器狗站立时力矩会掉

[dengchuanqi]

18.282000 3.260163 -0.457024 -4.541177 -3.003205 -0.302068 -5.594615 4.173905 -0.558011 -5.715013 -3.743416 -0.908281 -7.074513
18.284000 3.169430 -0.518287 -4.395755 -2.948276 -0.491734 -5.843260 4.049004 -0.663231 -5.509696 -3.753362 -1.140766 -7.292934
18.286000 3.427664 -0.574945 -4.803078 -3.130864 -0.425233 -6.045678 4.444558 -0.712465 -6.011832 -3.912552 -1.086824 -7.602785
18.288000 3.347273 -0.542645 -4.691153 -3.068129 -0.380119 -5.847497 4.334083 -0.665374 -5.886620 -3.835845 -1.017372 -7.383388
18.290000 3.157593 -0.496564 -4.414279 -2.905699 -0.341356 -5.501547 4.109088 -0.606506 -5.591267 -3.657632 -0.937801 -6.996908
18.292000 2.885387 -0.459421 -4.024276 -2.652952 -0.322520 -5.042851 3.782425 -0.559046 -5.155678 -3.379363 -0.864737 -6.456054
18.294000 3.204613 -0.549542 -4.475173 -2.994053 -0.485412 -5.892203 4.092908 -0.680885 -5.571803 -3.734993 -1.135651 -7.263390
18.296000 3.458198 -0.561850 -4.842295 -3.208652 -0.398124 -6.119383 4.480082 -0.682481 -6.082240 -3.955154 -1.069828 -7.635403
18.298000 3.374941 -0.529547 -4.730772 -3.154946 -0.350802 -5.925612 4.367854 -0.633207 -5.955649 -3.877524 -0.996722 -7.405269
18.300000 2.768747 -0.478167 -3.872303 -2.577748 -0.343695 -4.925332 3.646433 -0.560410 -4.976542 -3.251492 -0.878009 -6.233584
18.302000 1.679330 -0.431187 -2.333055 -1.479726 -0.385387 -3.139608 2.354695 -0.485299 -3.183365 -2.065911 -0.726955 -4.118585
18.304000 0.855328 -0.277335 -1.002948 -0.744604 -0.398613 -2.077597 1.444497 -0.348942 -1.861313 -1.427671 -0.635707 -3.052971
18.306000 0.394340 -0.437531 -0.510673 -0.085488 -0.508958 -1.115271 0.901659 -0.466623 -1.042831 -0.612799 -0.614458 -1.721553
18.308000 -0.169984 -0.235247 0.101771 0.242353 -0.325071 0.125988 0.017352 -0.183366 0.040780 0.111693 -0.292723 0.130803
18.310000 0.048012 -0.163660 -0.059105 0.225741 -0.303499 0.120727 -0.153732 -0.272802 0.104806 0.102071 -0.270357 0.121544
18.312000 0.081787 -0.339855 -0.164650 0.258255 -0.317283 0.125529 -0.195789 -0.268289 0.138151 0.086578 -0.282829 0.127726
18.314000 2.056422 -1.090762 -3.050707 -1.504182 -1.188357 -4.362541 2.318132 -1.139522 -3.002035 -1.934723 -1.576175 -4.459274
18.316000 2.873396 -0.738871 -3.918956 -2.466984 -0.696510 -5.420238 3.758978 -0.834359 -4.896466 -3.216596 -1.258127 -6.605594
18.318000 3.643983 -1.060031 -5.327798 -3.066491 -0.764384 -6.246581 4.581172 -1.145915 -6.067271 -3.657507 -1.385715 -7.316587
18.320000 3.378164 -0.504616 -4.632675 -3.112787 -0.338318 -5.818965 4.411694 -0.611798 -5.929290 -3.928447 -0.975116 -7.420409
18.322000 3.304580 -0.482661 -4.543633 -3.049913 -0.316190 -5.679971 4.293570 -0.584462 -5.794094 -3.827683 -0.931038 -7.215636
18.324000 3.316706 -0.509539 -4.514192 -3.052061 -0.439194 -5.988430 4.238596 -0.639273 -5.682043 -3.861211 -1.117368 -7.516131
18.326000 3.414192 -0.513504 -4.649142 -3.122352 -0.379746 -6.044140 4.394215 -0.634182 -5.872174 -3.905073 -1.059811 -7.612945

大佬您好，我已经将您的控制器部署到实机上，并且它可以站立起来，这个是ocs2控制器对机器狗站立时下发的力矩指令，18.304000开始力矩命令开始往下掉，然后又回升，导致机器狗一卡一卡的，这是什么情况，有什么排查问题的思路吗