Question about sim2real

[DIMARIA123]

Hello, I am trying to reproduce this work using the G1 robot. So far, my sim2sim performance is good, but when moving to sim2real we experience severe jitter. I am a newcomer and am unsure how to start troubleshooting. Could you, from your experience, help us identify a few possible issues? Or teach me some methods for diagnosing errors? Thank you very much!

[dbdxnuliba]

@DIMARIA123 could you please provide the sim2sim related code about host for g1 robot ,many thanks

[DIMARIA123]

@dbdxnuliba Hi, Since the sim2sim code wasn’t written by me, I don’t really want to post someone else’s work here without permission. However, if you can share your sim2sim code and the issues you’re encountering, I’d be happy to try to help you analyze where the problem lies.

[dbdxnuliba]

it have been solved by #17 (comment)

@dbdxnuliba Hi, Since the sim2sim code wasn’t written by me, I don’t really want to post someone else’s work here without permission. However, if you can share your sim2sim code and the issues you’re encountering, I’d be happy to try to help you analyze where the problem lies.

[Saluze]

Hello, I am trying to reproduce this work using the G1 robot. So far, my sim2sim performance is good, but when moving to sim2real we experience severe jitter. I am a newcomer and am unsure how to start troubleshooting. Could you, from your experience, help us identify a few possible issues? Or teach me some methods for diagnosing errors? Thank you very much!

Hi，I meet some problem when sim2sim, in mujoco env, the g1 robot can stand up successfully but the two wrist joint shake widely,
In Isaac Gym, there is no such problem; could you help me to check my sim2sim code?

[TaoHuang13]

@Saluze Could you please email me your code if possible? I can help to check.

[Saluze]

@Saluze Could you please email me your code if possible? I can help to check.

Many thanks.The issue has been identified — it was caused by a problem in the XML configuration file.