A control problem about the H1 robot's stepping

[1018weijia]

I found that the H1 robot keeps stepping in your scene, which causes its original position to constantly shift? May I ask how to solve this?

[HanqingWangAI]

Hi @1018weijia. The shift is unavoidable with the current locomotion policy. We plan to update the policy to incorporate a stable standing behavior when no command is provided. As a temporary solution, you can customize the controller to mitigate the shift error by issuing a reverse velocity command whenever the error exceeds the defined threshold.