# Testing Go2 and G1 policies in a LiDAR-reconstructed office digital twin: grasp failures, falls, and collision shortcuts

- Source: Reddit r/robotics
- Published: 2026-10-12T18:11:39.000Z
- RoboHot: https://robohot.news/en/items/q92eig029drxaqyz367lb54ga
- Original: https://www.reddit.com/r/robotics/comments/1x49b0i/testing_go2_and_g1_policies_in_a_lidarbuilt/

## Summary

A developer tested a Go2 equipped with dual SO-101 robotic arms and a 29-joint G1 in MuJoCo simulation within an office digital twin reconstructed from an Ouster OS0 LiDAR and phone imagery; this was purely simulation, not a real-robot demonstration. The G1 walking policy fell in all 12 trials on flat ground when an arm-raise motion was superimposed; a corrected Go2 grasp-and-place run landed 1.68 mm from the target, but reruns still failed. Inter-robot collisions were disabled in the shared scene, and multi-robot obstacle avoidance as well as mass and contact parameters remain to be validated.