Standalone Standing Test

Run this before full sim2real control when bringing up a new robot, network setup, or policy. It verifies the G1 bridge and the same RL standing path used by sim2real, without Pico, BVH playback, retargeting, or the full mocap pipeline.

G1 LowState -> standing observation -> RL policy -> G1 LowCmd targets

When To Use It

Use the standalone test when:

• you are setting up a new wired or onboard G1 deployment
• run_sim2real.py has too many moving parts to debug at once
• you need to verify g1_bridge_sdk, network interface selection, and policy inference before enabling mocap

Install Runtime Dependencies

pip install -e '.[sim2real]'
git submodule update --init --recursive
bash scripts/setup/setup_g1_bridge.sh

Dry Run

Use --dry-run first for timing checks without sending motor commands:

python scripts/run/standalone_standing.py \
    --policy ckpt/track_g1.onnx \
    --network-interface enp130s0 \
    --dry-run

Hardware Standing Test

Run the standing controller after confirming the network interface:

python scripts/run/standalone_standing.py \
    --policy ckpt/track_g1.onnx \
    --network-interface enp130s0

For onboard deployment, the interface is usually eth0:

python scripts/run/standalone_standing.py \
    --policy ckpt/track_g1.onnx \
    --network-interface eth0

Standalone standing reuses the sim2real standing components: UnitreeG1Robot, Sim2RealSafetyManager, RLPolicyController, VelCmdObservationBuilder, and Sim2RealReferenceProcessor. After locking the current joints, policy targets are sent while Kp ramps from 10% to the configured gains over 2 seconds. To tune this startup behavior:

python scripts/run/standalone_standing.py \
    --policy ckpt/track_g1.onnx \
    --network-interface eth0 \
    --kp-ramp-duration 2.0 \
    --kp-ramp-floor-ratio 0.1

What It Checks

• g1_bridge_sdk imports correctly.
• LowState is received from the robot.
• The dual-input ONNX policy can run the standing observation path.
• Low-level position targets can be published through the C++ bridge.
• Observation construction, action scaling, default standing pose, Kp ramp, and joint-limit clipping match the sim2real standing runtime.

Next Steps

After the standing test works:

• use Pico Sim2Real for realtime VR teleoperation
• use BVH Sim2Real Playback for offline motion playback

Troubleshooting

Symptom	Likely Cause	Fix
No LowState received	Wrong interface or G1 network not connected	Check Ethernet wiring and --network-interface
Import error for g1_bridge_sdk	Bridge not built or sim2real extra not installed	Run the install and bridge setup commands again
Policy shape error	Wrong ONNX export	Use the dual-input TemporalCNN policy exported by save_onnx.py