G1 Sim2Sim & Sim2Real deployment

Official implementation of deployment part for Hand Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching Paper and Website.

Installation

1. Install Unitree SDK python repo link (If there is any problem, try install from git repo instead of pypi)
2. Install isaac_gym and other python dependencies pip install -r requirements.txt
3. We use redis for interprocess communication between target server, mocap module and whole body controller, please install redis-server

Stream head pose via mocap

Please read this to setup mocap and streaming head pose link

Run whole body control policy

Sim2Sim test policy trained in IsaacGym in Mujoco

Create a folder inside exp_out, with the name of <checkpoint_dir>, put the trained policy checkpoint inside the new folder

python mujoco_client.py  --ckpt <checkpoint_dir>

Sim2Real test policy in real robot

1. Connect to G1 via ethernet cable
2. Get network interface via ifconfig, it should look like enp8s0 in following output

enp8s0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether fc:5c:ee:19:93:a6  txqueuelen 1000  (Ethernet)
        RX packets 1282866  bytes 1674739173 (1.6 GB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 661  bytes 343250 (343.2 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

1. Run code

python robot_client.py --ckpt <trained_ckeckpoint> --net <net_interface>

1. The code will first run simulation to initialize robot pose, after 100 steps, press start on remote controller to initialize real robot to default pose. Adjust robot pose to make sure real robot aligned with final state in simulation in pybullet visualizer. When robot is aligned, press A to activate robot control
2. WARNING: G1 Robot has a large range of motion and powerful motors that can be very dangerous. When doing experiment, it is strongly advised to be accompanied by another labmate. Press esc on keyboard or select on remote controller will immediately stop all joint movement, make sure there is always someone who can access keyboard.

Run target server

Please make sure whole body controller is already running, running target server before starting whole body controller can produce undefined behavior

Keyboard control

python target_server/keyboard_server.py

Navigation and reaching

In first terminal run navigation server

python target_server/navigation_server.py

In another terminal run reaching server

python target_server/reaching_server.py

Contribution

1. Sirui Chen and Zi-Ang Cao develop this sim2sim and sim2real deployment code repo
2. Yanjie Ze Provide useful suggestions for building infra and sim2sim testing

Citation

@article{chen2025hand,
  title={Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching},
  author={Chen, Sirui and Ye, Yufei and Cao, Zi-Ang and Lew, Jennifer and Xu, Pei and Liu, C Karen},
  journal={arXiv preprint arXiv:2508.03068},
  year={2025}
}