Unitree G1 Motor Overheat when using Inspire FTP Dexterous Hand #129
Description
When using the Inspire FTP Dexterous Hand installed on the Unitree G1, the arm motor (shoulder pitch joint) overheat after a short period of operation and the arm lost response.
Robot: Unitree G1 (ARM7)
End-effector: Inspire FTP Dexterous Hand
ROS: ROS 2 (Humble)
Control: High level control(/arm_sdk)
Gains:
kp = 40, kd = 1.5
Are there recommended PD gains, torque limits, or payload/gravity compensation settings for this end-effector?