Joints lock during "Run Mode" when using XR Teleoperation quest 3

[jayanthg-artpark]

Description:
I am teleoperating the Unitree G1 with a Meta Quest 3. I am experiencing a major conflict between the locomotion controller and the teleoperation commands when switching modes.
​Observed Behavior:
​Regular Mode(walk mode): Teleoperation works as expected. I can control the G1's movement (walking) via the Quest joysticks while simultaneously teleoperating the arms.
​Run Mode: As soon as I switch to "Run Mode," the lower body joints lock into a fixed/stiff position. I can still move the arms like i mean telop, but I lose movement via quest joystick.
Also can we control waist using telop using quest 3.

[silencht]

​> Run Mode: As soon as I switch to "Run Mode," the lower body joints lock into a fixed/stiff position. I can still move the arms like i mean telop, but I lose movement via quest joystick.

sorry, Yeah, this is an expected behavior.

xr_teleoperate/teleop/teleop_hand_and_arm.py

Lines 137 to 144 in 04e35a3

	# motion mode (G1: Regular mode R1+X, not Running mode R2+A)
	if args.motion:
	if args.input_mode == "controller":
	loco_wrapper = LocoClientWrapper()
	else:
	motion_switcher = MotionSwitcher()
	status, result = motion_switcher.Enter_Debug_Mode()
	logger_mp.info(f"Enter debug mode: {'Success' if status == 0 else 'Failed'}")

Also can we control waist using telop using quest 3.

yes, please refer
https://support.unitree.com/home/en/G1_developer/arm_control_routine
and rt/arm_sdk 's Joint Motor Sequence is same as rt/lowcmd, please refer
https://support.unitree.com/home/en/G1_developer/joint_motor_sequence
more information, please contact our technical suport.

[jayanth100798]

if i want to increase the speed of movement of g1 from meta joystick can i increase this--
loco_wrapper.Move(-tele_data.left_ctrl_thumbstickValue[1] * 0.3,
-tele_data.left_ctrl_thumbstickValue[0] * 0.3,
-tele_data.right_ctrl_thumbstickValue[0]* 0.3)

[silencht]

Yes, that's right. This can control the size of the robot's line speed. But pay attention to the stability of walking.

[jayanth100798]

Using meta quest can i squat and pick something from floor , is that possible?

[silencht]

@jayanth100798 No. Now, it can not do this. Because can not control body height. You could refer SONIC or TWIST2 works.