In the @dec_loco.py model, the 14 upper limb joints are designed to be controlled via teleoperation. However, when assigning common joint angle values to self.ref_upper_dof_pos, the robot struggles to maintain balance and becomes unstable.
It appears the joint order for the upper body in this model differs from other decoupled upper/lower limb models, which is likely the root cause of the balance issue.
The currently assigned upper body DoF names sequence is:
dof_names_upper_body: [
'left_shoulder_pitch_joint', 'left_shoulder_roll_joint',
'left_shoulder_yaw_joint', 'left_elbow_joint',
'left_wrist_roll_joint', 'left_wrist_pitch_joint', 'left_wrist_yaw_joint',
'right_shoulder_pitch_joint', 'right_shoulder_roll_joint',
'right_shoulder_yaw_joint', 'right_elbow_joint',
'right_wrist_roll_joint', 'right_wrist_pitch_joint', 'right_wrist_yaw_joint'
]
In the @dec_loco.py model, the 14 upper limb joints are designed to be controlled via teleoperation. However, when assigning common joint angle values to self.ref_upper_dof_pos, the robot struggles to maintain balance and becomes unstable.
It appears the joint order for the upper body in this model differs from other decoupled upper/lower limb models, which is likely the root cause of the balance issue.
The currently assigned upper body DoF names sequence is:
dof_names_upper_body: [
'left_shoulder_pitch_joint', 'left_shoulder_roll_joint',
'left_shoulder_yaw_joint', 'left_elbow_joint',
'left_wrist_roll_joint', 'left_wrist_pitch_joint', 'left_wrist_yaw_joint',
'right_shoulder_pitch_joint', 'right_shoulder_roll_joint',
'right_shoulder_yaw_joint', 'right_elbow_joint',
'right_wrist_roll_joint', 'right_wrist_pitch_joint', 'right_wrist_yaw_joint'
]