Does retargeted G1 floating above ground a problem?

[JunweiLiang]

Hi,

Thanks for the great work!
I'm trying to reproduce the work and I'm at the Sim2Sim2 stage.
I find that the simulated G1 is very easy to fall over if I'm doing walking motions, not to mention standing on a single foot.

Is the loco policy capable of standing on one foot? If so, I suspect from my side it is the problem with PICO and the retargeting. I observe that the retargeted G1 is floating above ground like this:

Any pointers to improve the balance performance would be appreciated!