InternRobotics / InternRobotics/OpenHomie
G1真机部署问题求教
Open
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 614
- Forks
- 49
- PR merge metrics
- No merged PRs in 30d
Description
你好作者 非常感谢对于HOMIE这样优秀工作的开源 最近我在尝试在宇树G1上复现HOMIE的下肢控制的时候遇到了一些问题 想向作者求教一下 具体表现为：模型在mujoco中仿真基础运动能力都很正常 但是在真机部署后就难以维持平衡始终后仰 但是高度控制是正常响应的 往下和往上都能正常快速响应
我的配置为：
- 宇树G1机器人单腰版本 上肢保持锁定为0的位置 模型输出接管下肢
- 机器人带有算力背包 mujoco里使用的是也是带有算力背包的模型
- 使用的kpkd和作者仓库中的权重保持一致
- 模型使用HOMIE仓库下的deploy.onnx 推理引擎为onnxruntime
- 刚开始的时候输入观测依照部署脚本构造为全零帧
如果作者愿意提供帮助 我将非常感谢 这会对我帮助很大
Contributor guide
No contributing guide indexed for this repository
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with the deployment script and the deploy.onnx inference setup, focusing on how the initial all-zero observation frame is constructed for the G1 hardware. Compare the real-robot behavior with the stated MuJoCo configuration and determine what evidence distinguishes an observation, control, or hardware-deployment issue; done requires stable balance on the physical robot.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Active
- Clarity
- Needs clarification
- Newbie friendliness
- 30/100