Sim2sim问题

[ZX123445]

2026-01-27 19:29:31.845 | INFO | main:run_policy:94 - 🚀 Starting Policy with Tyro configuration...
2026-01-27 19:29:31.846 | INFO | main:run_policy:95 - 🤖 Robot: g1_29dof
2026-01-27 19:29:31.846 | INFO | main:run_policy:96 - 📋 Observation groups: ['actor_obs']
2026-01-27 19:29:31.846 | INFO | main:run_policy:97 - ⚙️ RL Rate: 50.0 Hz
2026-01-27 19:29:31.846 | INFO | main:run_policy:98 - 📁 Model path: logs/WholeBodyTracking/20260125_123857-g1_29dof_wbt_fast_sac_manager-locomotion/model_0700000.onnx
2026-01-27 19:29:31.846 | INFO | main:run_policy:104 - Using WholeBodyTrackingPolicy
2026-01-27 19:29:31.846 | INFO | holosoma_inference.utils.clock:start:103 - Clock subscriber started, connecting to port 5555
2026-01-27 19:29:31.899 | INFO | holosoma_inference.policies.base:_init_sdk_components:117 - ChannelFactory initialized: domain_id=0, interface=lo (network_interface=None)
2026-01-27 19:29:31.902 | WARNING | holosoma_inference.sdk.interface_wrapper:_init_sdk_components:77 - unitree_interface found but missing required attributes, falling back to sdk2py
2026-01-27 19:29:32.119 | INFO | holosoma_inference.sdk.state_processor.unitree.unitree_state_processor:_init_sdk_components:20 - Initialized lowstate subscriber: rt/lowstate (HG message type)
2026-01-27 19:29:32.127 | INFO | holosoma_inference.policies.base:setup_policy:398 - Loaded KP/KD from ONNX metadata: model_0700000.onnx
2026-01-27 19:29:32.127 | INFO | holosoma_inference.policies.base:_resolve_control_gains:429 - Using KP/KD from ONNX metadata
2026-01-27 19:29:32.127 | INFO | holosoma_inference.policies.base:_init_keyboard_handler:361 - Using keyboard
2026-01-27 19:29:32.128 | INFO | holosoma_inference.policies.base:start_key_listener:750 - ⌨️ Keyboard listener started - Press keys in THIS terminal!
2026-01-27 19:29:32.128 | INFO | holosoma_inference.policies.base:_init_keyboard_handler:372 - Keyboard Listener Initialized
2026-01-27 19:29:32.128 | INFO | main:run_policy:107 - ✅ Policy initialized successfully!
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:31 - ================================================================================
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:32 - 🎮 POLICY CONTROLS
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:33 - ================================================================================
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:34 -
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:56 - ⌨️ Using KEYBOARD control mode
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:57 -
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:58 - ⚠️ IMPORTANT: Make sure THIS TERMINAL is active to receive keyboard input!
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:59 - ⚠️ All commands below must be entered in THIS terminal window.
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:60 -
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:61 - General Controls:
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:62 - ] - Start the policy
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:63 - o - Stop the policy
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:64 - i - Set robot to default pose
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:67 -
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:68 - Whole-Body Tracking Controls:
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:69 - s - Start motion clip
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:79 -
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:80 - 🎬 MuJoCo Simulator Controls (⚠️ ONLY in MuJoCo window, NOT this terminal!):
2026-01-27 19:29:32.128 | INFO | main:_print_control_guide:81 - 7/8 - Decrease/increase elastic band length
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:82 - 9 - Toggle elastic band enable/disable
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:83 - BACKSPACE - Reset simulation
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:85 -
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:86 - ================================================================================
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:87 - 👆 Press the appropriate button/key to begin!
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:88 - ================================================================================
2026-01-27 19:29:32.129 | INFO | main:_print_control_guide:89 -
2026-01-27 19:30:05.878 | INFO | holosoma_inference.policies.base:handle_keyboard_button:784 - 🔑 Key pressed: ']'
2026-01-27 19:30:05.878 | INFO | holosoma_inference.policies.base:_handle_start_policy:828 - ✓ Policy started - Using policy actions
2026-01-27 19:30:10.458 | INFO | holosoma_inference.policies.wbt:_handle_start_motion_clip:463 - 🚀 Motion Clip STARTED 在Mojoco环境中，执行策略机器人并不执行动作， 傻傻的站立

[samuelgundry]

Hello, thanks for submitting. Please provide additional information. Is this a bug? A feature request?

[samuelgundry]

Hi, resolving due to lack of information. Please re-open and provide additional details in the future.