Issues with sim2sim and sim2real on Unitree G1 PC2.

[dzysunshine]

First of all, thank you very much for providing the light deployment framework. While trying to deploy the trained Beyondmimic model on the Unitree G1, I encountered two issues and would like to seek your advice. I look forward to your reply.

First issue:
I used sim2sim to test the four models you provided in the path assets/models/g1/beyondmimic. I found that only the Dance_wose model could run completely, while the other three models had some issues. The videos are as follows:

https://github.com/user-attachments/assets/b3a5fe7d-adf7-4b2e-a912-4a7378c55241
https://github.com/user-attachments/assets/d2f13bff-0e42-4dab-9437-a6606bcf000d
https://github.com/user-attachments/assets/6ce3e833-409d-4083-ad66-8e32d79db2db

Second issue:
I used sim2sim to run my own trained model (also a dance), and it ran successfully. However, when deploying it on the Yushu G1 and performing sim2real, it only ran for a few seconds before collapsing. I previously tried the whole_body_tracking deployment method provided by Beyondmimic, which ran completely. But this was deployed on a workstation and ran via a wired network connection. Therefore, I would like to ask what the possible reason for this issue might be. Is it a computational power issue with the PC2, or is there some other gap?

[Steven-Uranus]

You should show more details about your problem，I've tried this on different bots and it's worked well. Maybe you could try refreshing your PC2.

[HansZ8]

Hi,
The videos you shared look exactly as expected. Since the motion has already finished and the final frame of the original motion aren’t very stable, you’ll see this kind of behavior. Sorry for the confusion, switch to another motion should fix it.

For the sim2real issue, more info is needed, eg, the log.

My current guesses are:

• Performance issue: frame drops due to remote desktop or other process on pc2, triggering the pipeline auto shutdown.
• Motion too intense: the dance motion is aggressive with violent base gravity, and the safety_check might be a bit conservative, causing an automatic stop.
• Using a BeyondMimic G1FlatEnvCfg config: as mentioned in Issues on sim2real for beyondmimic policy with odometry #21, we recommend switching to G1FlatWoStateEstimationEnvCfg to avoid odometry-related problems.