this repo is only based on g1 robot's urdf,not consider the physical properties at all. To get realer simulation,you'd better use mujoco
To use this repo,you'd better create conda env
conda create -n myenv python=3.8
conda activate myenv
pip install numpy transforms3d matplotlib pygame meshcat
conda install -c conda-forge pyyaml rospkg casadi
conda install pinocchio=3.1.0 -c conda-forge
you need to prepare the motion data whose format as same as the motion_guzhang.seq and then replace the code path in test_v1.py line 46
conda activate myenv
python test_v1.py