How to override arm joints while maintaining balance with a whole-body policy?

[TranThang27]

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?