The problem of robot trembling and the adaptation to new projects

[kudouxiao]

Thank you very much for your great work. Currently, when I am using the unitreecpp real machine deployment, during the state switching process in g1_switch_beyondmimic_real, the robot joints are shaking violently, making a shrill noise, and the robot cannot stand steadily and will retreat during the state switching. May I ask if you have encountered the same problem when deploying real machines? How to solve it?

At the same time, I hope you can consider adding and adapting another excellent work, RoboMimic, to this project

[HansZ8]

Thanks for testing!
Which motion are you trying to deploy?
The shaking might be caused by a sudden change of upper body during switch. We will include the alignment feature (aka skill prepare and cooldown) in an upcoming update.
Btw, you could try to analyze recorded logs for debugging.

In 1.3.2 version, we've added support for ASAP, which RoboMimic is based on. Its models should work with simple cfg edit. Check AsapPolicy and try it on!

[kudouxiao]

Thanks for testing! Which motion are you trying to deploy? The shaking might be caused by a sudden change of upper body during switch. We will include the alignment feature (aka skill prepare and cooldown) in an upcoming update. Btw, you could try to analyze recorded logs for debugging.

In 1.3.2 version, we've added support for ASAP, which RoboMimic is based on. Its models should work with simple cfg edit. Check AsapPolicy and try it on!

I attempted to deploy the action switching in your beyondmimic. This issue occurs when using c++, and there is a probability of jitter during the switching process. However, this problem will not exist at all when using the python_sdk.

I will try！

[HansZ8]

Thanks for the feedback, we’ll look into it.

[XiangQhello]

Thanks for the feedback, we’ll look into it.
Thank you for your great work. I also encountered the same problem during deployment. When I chose to use UnitreeCppEnv for on-machine deployment, apart from the severe trembling of the joints during action switching, it also trembled violently when dancing. However, the robot did not tremble when walking, and this issue was not encountered when using UnitreeEnv. May I ask if you have ever encountered this? Could you please help solve it?
# env_type="UnitreeEnv",
env_type="UnitreeCppEnv",

[HansZ8]

@kudouxiao @XiangQhello Thanks for your contribution.
We've successfully reproduced it, which stems from the UnitreeCpp control frequency. A fix will be forthcoming.
You can now set UnitreeCfg.control_dt to 0.005or less to fix this.

[HansZ8]

Fixed.
Remember to update unitree_cpp with python submodule_install.py unitree_cpp after pull.