Robot arms moving uncontrolled when pressing start in gui

[lballenweg]

Hi,
first of all i was having issues with the loco client that no commands where coming through. I fixed this by going into the unitree sdk files and changing
LOCO_SERVICE_NAME = "loco" to LOCO_SERVICE_NAME = "sport".
Now when hitting start in the gui the robots arms move to a position regardless of collision, even if manipulation is disabled. Why is this happening? Are the home positions from the config being written to the arm actuators without interpolation?
I am trying to understand this issue but havent been able to figure out what is happening. I would be very greatful for help or suggestions.

[CDonosoK]

Hello @lballenweg ,

I'm fixing some common issues, and yes, it's important to change the LOCO_SERVICE_NAME.

When you press start, all the body of the robot goes into a standard position (given by unitree), this is the FSM(4), this position are not the "home" that I have, so I cannot control this motion.

[lballenweg]

Hi, thanks for the quick answer.
Is there a Position i can move the arms to prior to switching to fsm4 to avoid the robots arms twisting behind his back and getting stuck? I am working on a 29dof g1 with release v1.10.
When switching to fsm4 the robot is hanging on the crane in damping mode.
I appreciate your help!

[CDonosoK]

Well normally where we put the arms is just beside each side, in this way each arm goes to each side without collision 😄

I quick reminder: If you start the balancing mode (not the fsm4), the robot should be touching the floor

[lballenweg]

I just had the arms hanging next to the robot and then it commands them to i belive a 90 Degree angled elbow Position but that doesnt always work out. Left arm once reached the Position but not the right arm.
I guess i'll carefully try again if you dont have any other suggestions.

[lballenweg]

Hi again,

i was just going through the Commit history on the unitree sdk2_python and in commit 0f17096 the finite state machine states are declared as the following in /g1_loco_client.py:

def Damp(self):
self.SetFsmId(1)

def Start(self):
    self.SetFsmId(200)

def Squat(self):
    self.SetFsmId(2)

def Sit(self):
    self.SetFsmId(3)

def StandUp(self):
    self.SetFsmId(4)

def ZeroTorque(self):
    self.SetFsmId(0)

later in commit 986f39d they are changed to
def Damp(self):
self.SetFsmId(1)

def Start(self):
    self.SetFsmId(200)

def Squat2StandUp(self):
    self.SetFsmId(706)

def Lie2StandUp(self):
    self.SetFsmId(702)

def Sit(self):
    self.SetFsmId(3)

def StandUp2Squat(self):
    self.SetFsmId(706)

def ZeroTorque(self):
    self.SetFsmId(0)

Up to this commit the g1_loco_api referrs to LOCO_SERVICE_NAME = "loco".
So i belive if the robots locomotion controller is running a new FW version also the FSM IDs are the new ones, which are missing a definition for FSM 4 or am i missunderstanding this?

[CDonosoK]

Hahahahaha good question, so it depends.

Since I'm not calling a specific function from the unitree sdk, I don't need that the function exist, or the definition it self. Because in my controller I'm directly setting: SetFsmId(4) and the value 4 already exist inside the unitree FSM.

What unitree did is just adding more states and removing an old definition, but they haven't change the values of the fsm at all. ZeroTorque is still 0, Sit, is still (3), etc etc.

See: Unitree Documentation, specific the part where they define the Ids (Expert Interface)

[lballenweg]

Thanks for the link to the docu page. I had tried searching for the fsm modes but only found them for the go2 through search...
I was afraid maybe unitree had remapped fsm states.
I'll continue to try and find out what is going wrong since the Pose the robot takes is not the default locked standing Pose.
I had controlled the arms previously using the arm Manipulation with the robot manually put in running mode and that seemed to work okay.
I am going to try and find out if any arm poses are being published since it looks to me as if as soon as the robot is put in fsm4 Position commands from the low level control are executed.

[Spopoi]

Hello, thanks for the great work @CDonosoK !
Could you clarify which exact version of the Unitree G1 you are using, including both the loco SDK version and the robot firmware version? I would like to be sure the system will work the same on my setup.
I would also like to know whether g1pilot can be started from a squat pose, since I do not have access to the crane at the moment.
Thank you.