Motion replay is very shaky

[tianzong-cheng]

I tried to run a demo climbing motion replay with the following command, and the robot is very shaky.

source scripts/source_isaacsim_setup.sh
python src/holosoma/holosoma/replay.py \
    exp:g1-29dof-wbt \
    --training.headless=False \
    --training.num_envs=1 \
    terrain:terrain-load-obj \
    --terrain.terrain-term.obj-file-path src/holosoma/holosoma/data/motions/g1_29dof/whole_body_tracking/terrain_slope.obj \
    --command.setup_terms.motion_command.params.motion_config.motion_file src/holosoma/holosoma/data/motions/g1_29dof/whole_body_tracking/motion_crawl_slope.npz

replay_climbing_shaky.mp4