About G1 deploy

[MinhaoXiong]

Hello, thanks for your great work!
Is the inference speed on the single CPU in the Unitree G1 sufficient, or is an external computer connected to the G1 via EtherCAT required to guarantee adequate inference speed?

[hang0610]

Real-time (minor delay) inference with unitree_sdk2_python is not guaranteed on Jetson Orin inside of Unitree G1 as unitree_sdk2_python is fully written in python, while booster_robotics_sdk works fine as its backend is written in cpp with a pybinding wrapper.

I recommend you to use unitree_sdk2 for real-time inference onboard. I have written a pybinding wrapper for it. Please check this repo (currently no README for this pybinding wrapper, but will update soon).

[lllzheng]

When performing sim2real, what mode should the robot be in, zero-torque mode or damping mode?

[lllzheng]

When performing sim2real, if I use unitree_sdk2_python, do I need to first start a specific robot control command before running rl_policy/loco_manip/loco_manip.py?

[hang0610]

@lllzheng check #9