G1 arm movement becomes unstable after SDK control session

We are testing a Unitree G1 EDU for a small internal robotics project in Melbourne. Basic standing and walking functions are working normally, but we have started seeing inconsistent arm movement after running our own SDK2 control program. The issue does not appear immediately. After around 10–15 minutes of testing, one arm occasionally stops following the commanded position accurately and may briefly jerk before returning to the expected pose. So far we have: - restarted the robot and controller; - tested with the original Unitree examples; - reduced the commanded joint speed; - checked for obvious mechanical obstruction; - reproduced the behaviour on two separate test sessions. We have not modified the hardware. We would like to understand whether this is more likely to be a control/configuration issue, something we should check in the SDK or firmware, or a situation where professional diagnostics would be appropriate. We are not looking for an automatic diagnosis — mainly interested in what checks other G1 users or Australian support providers would recommend next.

Machine

Unitree G1

Service category

Setup & Development

Actual equipment

Unitree G1 EDU with standard arms

Software / firmware

Firmware 1.2.x / Unitree SDK2 on Ubuntu 22.04

Desired timing

Within the next 1–2 weeks