Transfer to G1

[phuongboi]

Thank you for your amazing work. I am adding g1 with 29 dof for training jumpjack. I see the option to visualize the box for debug but I don't know how to turn it on. I would like to change these parameter for g1 training

wococo/legged_gym/legged_gym/envs/h1/h1_jumpjack_config.py

Line 256 in c44d312

class task:

[phuongboi]

I knew how to visualize the box, but my actor meet this unexpected behavior. May I did some wrong config? Thank you!

Screencast.from.2025-06-01.17-11-50.webm

[zita-ch]

might you check 1) the urdf is correct for learning walking 2) the "boxes" should be reachable for the robot as it is smaller 3) there is no random termination triggered due to change of robot
also regarding tuning maybe you need to look at the learning curve to see if any reward hacking happens.

I think very often such kind of motions are due to some random bugs that you did not expect to happen at all.

[phuongboi]

Thank you for answering my question. 1) I think the urdf is ok, just one thing that your code can not load the hand link in urdf file, I find this is weird.2) I have try to just learn the foot goal (not learn hand spread and clap), this behavior still happen in very first iterations. I think rewards is not the problem. 3) the turn around behavior happen when I remove terminal by collision on "knee", if not the robot only survive after 1 interation.

[phuongboi]

I also try with no curriousity and not use ppo-symetry

[zita-ch]

Could you check if any joint is hitting any limit? Also maybe try disable self collision? Or decrease simulation dt? Coz this motion doesn't look like being generated by the robot, but possibly by some virtual forces activated for collision or limit hitting in sim.

[zita-ch]

Also watch the first iters during training using GUI might also help finding bugs

[phuongboi]

I also slow down the simulation to check that whether the knee is collided, but I think they don't have. if I remove all of this terminate_after_contacts_on = ["pelvis",
"shoulder",
"elbow",
"hip_roll",
"hip_pitch",
"knee",
"torso",
]
robot will turn around like I show in the video, but as I check they terminal after collision on knee

[zita-ch]

what does the collision body look like?

did you try to fix the foot goals so it should just stand there?

[phuongboi]

As I observe, knee is not close to each other but they still terminate. I also suspect about the initial position maybe different with h1 so target foot goal is perpendicular to current robot position, but I think this possibility is not high. I also think that the action scale is too large and I tried to reduce action scale but this not work

[zita-ch]

"knee is not close to each other but they still terminate" I think the urdf collision body can be wrong.

[phuongboi]

Yes, I will check again all collsion tag in urdf. Thank you very much!

[zita-ch]

note if there are penetrations between two links' collision bodies this might also trigger contact

[phuongboi]

I have just checked the urdf, all collsion tag of knees are comment out. So I don't this is the problem

[zita-ch]

hmmmm it is better to check the simulator because it can auto merge other links or maybe you get the wrong index:

1. turn on the collision body view.
2. change the knee part (by which you associated with the name or index in codes) color
3. see if there is any overlapping with other white parts.

The contact termination is only triggered with contact forces, which are either from the environment or from other links