updated arm actions

[jerinpeter]

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Re-recorded G1 Arm Actions

Re-recorded all 4 pre-built arm action trajectories for the G1 robot with improved motion quality.

Changed Files

All recordings in arm_actions:

Action	Arm(s)	Frames	Duration	Description
shake_hand.json	Right	125	6.2s	Extends right hand for a handshake
show_hand.json	Right	162	8.1s	Shows open right hand
face_wave.json	Right	182	9.1s	Waves at a person
hands_up.json	Both	163	8.1s	Raises both arms

All recordings use 7-DOF per arm (shoulder pitch/roll/yaw, elbow, wrist roll/pitch/yaw) at 20 Hz, with home-position bookends for smooth transitions.

How to Trigger

Via ROS2 topic (requires g1_arm_action_node running):

ros2 topic pub --once /api/sport/request unitree_api/msg/Request \
  "{header: {identity: {api_id: 9001}}, parameter: '{\"action\": \"shake_hand\"}'}"

Available actions: shake_hand, show_hand, face_wave, hands_up

Testing

All actions tested on hardware. Walking mode (joystick control) resumes automatically after each action completes.

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