Questions about deployment on g1

[forresteh]

Hi, I try to deplooy your code on g1 but after I ran it, I didn't perform any operation, but after it stood ready, it made intense movements. Can you provide guidance on deploying this model? Or do you think this weight file can be directly deployed to the physical machine? Thanks a lot

[RexSkywalkerLee]

Hi, we are positive that the model can be directly deployed on the hardware, as we have done before. You might need to check if the observations are matched if a massive sim2real gap is observed.

[yzhperseverance]

Hi! I used the official deploy_real from Unitree, connected via Ethernet to the PC, and deployed your code — it worked very well! However, when I deployed it to the NX on the G1, severe jitter occurred. I suspect the issue might be related to the Unitree communication SDK. Did you encounter similar problems when deploying on NX? Could you share any experience or suggestions?Thanks

Hi, we are positive that the model can be directly deployed on the hardware, as we have done before. You might need to check if the observations are matched if a massive sim2real gap is observed.

[RexSkywalkerLee]

When deploying on NX, we used the C++ SDK for it to work. Using the Python SDK on NX is quite problematic.

[yzhperseverance]

When deploying on NX, we used the C++ SDK for it to work. Using the Python SDK on NX is quite problematic.

Could you please open source the code for deployment using the C++ SDK?

[Bailey-24]

@yzhperseverance hello, could you please share you deploy_real code, I can help me to change to use C++ SDK.

[yzhperseverance]

Sure, you can contact me via the email address on my homepage.

@yzhperseverance hello, could you please share you deploy_real code, I can help me to change to use C++ SDK.

[ZD-Liu]

当然，您可以通过我主页上的电子邮件地址联系我。

@yzhperseverance你好，你能分享你的 deploy_real 代码吗，我可以帮助我改为使用 C++ SDK。

Hello! Could you share your deploy_real code? My deployment on the G1 isn’t working very well, it doesn’t follow the vx command properly. I’ve sent you a message by email. Thank you!

[Dsixy]

Hi! I used the official deploy_real from Unitree, connected via Ethernet to the PC, and deployed your code — it worked very well! However, when I deployed it to the NX on the G1, severe jitter occurred. I suspect the issue might be related to the Unitree communication SDK. Did you encounter similar problems when deploying on NX? Could you share any experience or suggestions?Thanks

Hi, we are positive that the model can be directly deployed on the hardware, as we have done before. You might need to check if the observations are matched if a massive sim2real gap is observed.

someone have upload their cpp sdk: https://github.com/GDDG08/unitree_cpp

[Bluetree-1203]

Hi! I'm also learning about sim2real, but I haven't figured out how to deploy on G1. Could you share your deploy_real code? Thank you a lot in advance! @yzhperseverance