Hi, Unitree team.
Our lab recently bought and used the G1 humanoid EDU (29dof) model for our research. However, the robot keeps malfunctioning, so I’ll describe what happened and the current circumstances.
What happened :
- We’re deploying RL trained policies on a G1 robot, and sometimes when it’s operating on the OOD state, it tends to act very violently. We saw multiple times that the arms OR legs experiencing collisions with the environment (eg. with crank, ground, or itself.)
Current circumstances :
- The robot’s wrist pitch joint of both arms are malfunctioning.
- Left wrist pitch joint’s gear seems like to be broken, since we cannot actually “control” the motor to pose certain desired target position.
- Right wrist pitch joint keep shows an error message named “winding overheated” and frequently the whole right arm is turned off. - BTW, we can both read the joint position from the ros lowstate topic which is published from the actuator. We also have done re-calibration multiple times following the official guideline from the unitree.
Our most priority is to make the right arm not be turned off. We also know that the fundamental solution is to send this robot to Unitree and get a fixed robot, but we have to finish current research in a few weeks, so we cannot send it.
Organized questions are:
- What kind of things can we try?
- Can we manipulate the overheating threshold to be higher, preventing the “winding overheating?”
- Is it OK to open the actuator and diagnose it directly?
It’s too long to read but this is an urgent issue to us. Thank you for reading, and we’ll wait for the response. Thanks again.