When I tried to adapt the new robot, I found that the robot's waist and arms swung back and forth after standing up, instead of staying in target_jnt_pose. How can we solve this problem

[dbdxnuliba]

Thanks for your greate works！
When I try a new robot ,

When I tried to adapt the new robot, I found that the robot's waist and arms swung back and forth after standing up, instead of staying in target_jnt_pose. How can we solve this problem
Many thanks!

[TaoHuang13]

Hi. It seems the robot is trying to reach a high target height. You may check height-related hyperparameters.

[dbdxnuliba]

ok， I will check it

Hi. It seems the robot is trying to reach a high target height. You may check height-related hyperparameters.