G1 Retargeting not working correctly in Isaac Gym

[pk-scafo]

Hi, I'm running teleop/teleop_test_gym.py and able to get the simulation stream in AVP. However, the hand is not moving as expected.

https://github.com/unitreerobotics/avp_teleoperate/blob/g1/teleop/teleop_test_gym.py

[silencht]

The current isaac gym test really doesn't do what is expected. As an alternative, you can choose isaac gym under the h1_2 branch for testing. We will fix the issue as soon as possible.
Thanks for your question :)

[silencht]

Currently, The 2.3 Test Environment section in the g1 branch is only used to verify the correctness of the environment installation, which may seem a bit excessive. There are indeed issues with this section, and we need some time to address the related content and code. Thank you for your attention!