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 RL standing path without Pico, BVH playback, retargeting, or the full Teleopit 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 track.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 track.onnx \
    --network-interface enp130s0

For onboard deployment, the interface is usually eth0:

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

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.

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