[Question] Inverse Kinematics Unitree G1 Robot

[francescotaioli]

Hi everyone,
I'm working on implementing Inverse Kinematics (IK) for the Unitree G1 Robot.

I began by referencing docs and modified the script to focus on my desired joints. in particular, focusing on a simple test regarding the left part of the robot:

robot_entity_cfg = SceneEntityCfg(
            "robot",
            joint_names=[
                "left_shoulder_.*",
                "left_elbow_.*",
            ],
            body_names=["left_palm_link"],
        )

However, the results are not as expected. The issues I'm encountering are:

1. The right hand and elbows move when only the left side should be affected.
2. The robot is falling to the ground during the test.
3. The left hand is not reaching the target position

Ideally, I aim to achieve outcomes similar to those demonstrated here.

Does anyone know of additional documentation or scripts that could help? Any guidance would be greatly appreciated!

[RandomOakForest]

Thanks for posting this. With the latest release and the holidays we haven't been able to address this yet. I'll move it to a discussion for the team to follow up upon.