Issues when adding new robot model

[tom57-design]

Hi Team,
Thanks for the amazing work!
I've tried out Go2 & H1 examples and they work pretty well!
Right now I try to add Unitree G1 model into this framework by doing the corresponding modifications (added mjcf & use the same settings, created env for the new G1 example, created config yaml for the new G1 example, commented out the unused joints for locomotion in mjcf, matched the DoF for the G1 robot in env script, commented out the unnecessary collision geom to make it simpler, ... etc).

However, after running:

dial-mpc --config ../examples/unitree_g1_loco.yaml --custom-env unitree_g1_env

the rendering result shows that G1 robot ended up walking on both knees and toes (when using the capsule collision geom for the entire legs)

On the contrary, if I only use capsule collision geom on the left_foot & right_foot like what you folks did in H1 mjcf, meaning it only uses capsule collision geom on the foot pedals, my G1 robot would walk on foot normally for the first few seconds, but then the G1 robot will disappear and the visualizer will turn grey (the printout in the terminal also says reward = na in this case).

using only foot pedal capsule collision geom, reward shows nan:

using only foot pedal capsule collision geom, in the beginning G1 still stands up:

and then it would turn grey in visualizer:

So, I want to know what should I do to make the G1 robot walk on foot (not using knee) and perhaps only using the capsule collision geom on the foot while achieving reasonable reward?

Thank you for your time and effort! Looking forward to know the solutions!

[Singularhdp]

Did you solve the problem, please? I also tried to reproduce the algorithm on the G1, but the run warns about the long compilation time and ultimately fails to complete the Rollout. I have simplified the model, but don't know what's going wrong. I wonder if you have encountered this?

[WangFu12138]

Did you solve the problem, please? I meet the same problem for rollout

[Singularhdp]

Did you solve the problem, please? I meet the same problem for rollout

Perhaps you need to remove most of the collisions, leaving only a few small spheres under the feet.

[WangFu12138]

Did you solve the problem, please? I meet the same problem for rollout你解决问题了吗？我在推出时遇到同样的问题

Perhaps you need to remove most of the collisions, leaving only a few small spheres under the feet.也许你需要去除大部分碰撞，只留下脚下几个小球体。

tankyou for your reply!!!
I have take the same way,but i use two collisions like the example h1.it's not rubst in my own environment,my robot will rotate for circle,may be there are other tips?

[Singularhdp]

Did you solve the problem, please? I meet the same problem for rollout你解决问题了吗？我在推出时遇到同样的问题

Perhaps you need to remove most of the collisions, leaving only a few small spheres under the feet.也许你需要去除大部分碰撞，只留下脚下几个小球体。

tankyou for your reply!!! I have take the same way,but i use two collisions like the example h1.it's not rubst in my own environment,my robot will rotate for circle,may be there are other tips?

At first, my robot just took off. Later, I adjusted the gait, PD, and reward parameters, which improved the results somewhat. Hope this will help you.

[WangFu12138]

Did you solve the problem, please? I meet the same problem for rollout

Perhaps you need to remove most of the collisions, leaving only a few small spheres under the feet.

tankyou for your reply!!! I have take the same way,but i use two collisions like the example h1.it's not rubst in my own environment,my robot will rotate for circle,may be there are other tips?

At first, my robot just took off. Later, I adjusted the gait, PD, and reward parameters, which improved the results somewhat. Hope this will help you.

Cool!!!! tank you again for your reply.
best wishes for you QAQ