I attempted to control the arms of the Unitree G1, which has a 3-DOF waist, using the arm SDK, while simultaneously walking with a gamepad. However, as soon as I started using the arm SDK to move the arms, the robot began to bend forward at the waist and failed to maintain balance.
Additionally, when I tried to control walking with the gamepad while keeping the arms raised, the robot was unable to walk properly and instead started moving unstably with heavy, stomping motions.
To address this, I tried several approaches for the waist joints: setting all three axes to zero, continuously applying the initial values, and also leaving them completely untouched. However, the same issue persisted in all cases.
Could you please advise on how to properly control this setup?
Thank you.
I attempted to control the arms of the Unitree G1, which has a 3-DOF waist, using the arm SDK, while simultaneously walking with a gamepad. However, as soon as I started using the arm SDK to move the arms, the robot began to bend forward at the waist and failed to maintain balance.
Additionally, when I tried to control walking with the gamepad while keeping the arms raised, the robot was unable to walk properly and instead started moving unstably with heavy, stomping motions.
To address this, I tried several approaches for the waist joints: setting all three axes to zero, continuously applying the initial values, and also leaving them completely untouched. However, the same issue persisted in all cases.
Could you please advise on how to properly control this setup?
Thank you.