Issues on sim2real for beyondmimic policy with odometry

[zzerann]

Hi, thank you very much for this open sourced deployment project. It helps me a lot!!

The problem is that when I use my own policy with anchor global pos and base lin vel. They tested good in sim2sim. When running on real g1 robot, it starts become unstable when using UNITREE type odometry.

So, my question is that do you encountered the same problem as mine when using unitree sdk odometry data. Is it a bug when just calling the function to get base_pos and base_lin_vel from unitree sdk, or is there anything that I using it wrong. Is there anything to improve it when using odometry for real robot deploy.

I will be very appreciated!

[HansZ8]

Thanks, glad it helps.

Yeah, the odometry data on the Unitree G1 seems to come from lower-limb estimation, so the accuracy can drift quite a bit. We noticed the same thing when debugging the debug_log visualization.

Unless you have a high-precision external odometry setup, or some pose estimation magic like the closed-source motion_tracking_controller, we’d recommend using Beyondmimic’s G1FlatWoStateEstimationEnvCfg to avoid the odometry issues altogether.

For more context, you can also check this:
#3 (comment)