If you have only one ControlNet unit go to the Settings > ControlNet and set "Multi-ControlNet: ControlNet unit number" to 2 or more. Click "Apply settings" and restart UI.
In ControlNet unit 0 use Preprocessor: none and Model: openpose. Drop openpose image here and enable it.
ControlNet mode for OpenPose set to "Balanced".
In ControlNet unit 1 use Preprocessor: none and Model: lineart. Drop lineart image here and enable it.
ControlNet mode for Lineart set to "Balanced".
Resolution for txt2img: 768x512.