I am using the policies trained from unitree_rl_lab on a Unitree G1. Since the policy is trained for whole-body motion, it controls all joints (including arms) to maintain balance.
I want to perform a specific task: while the robot is standing and balancing using the policy, I want to manually raise its arms using low-level commands.
How to do it?
I am using the policies trained from unitree_rl_lab on a Unitree G1. Since the policy is trained for whole-body motion, it controls all joints (including arms) to maintain balance.
I want to perform a specific task: while the robot is standing and balancing using the policy, I want to manually raise its arms using low-level commands.
How to do it?