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Fix/g1 rigid nan stability #6

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Merged
KraHsu merged 3 commits into from
May 13, 2026
Merged

Fix/g1 rigid nan stability #6

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80e76b9
Shrink G1 physics dt to 2ms to stop rigid-solver NaN at scale
KraHsu May 13, 2026
5c4b9f0
Merge remote-tracking branch 'origin/main' into fix/g1-rigid-nan-stab…
KraHsu May 13, 2026
cab5f3c
Merge remote-tracking branch 'origin/main' into fix/g1-rigid-nan-stab…
KraHsu May 13, 2026
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4 changes: 2 additions & 2 deletions examples/unitree/src/genelab_unitree/g1/env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,12 +49,12 @@ def unitree_g1_velocity_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
cfg = ManagerBasedRlEnvCfg(
scene=SceneCfg(
num_envs=4096 if not play else 50,
dt=0.005,
dt=0.002,
substeps=1,
env_spacing=(2.5, 2.5),
vis=play,
),
decimation=4,
decimation=10,
episode_length_s=20.0,
device="cuda",
robot=robot_entity_cfg,
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4 changes: 2 additions & 2 deletions examples/unitree/src/genelab_unitree/g1/tracking_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,12 +120,12 @@ def unitree_g1_tracking_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
cfg = ManagerBasedRlEnvCfg(
scene=SceneCfg(
num_envs=4096 if not play else 1,
dt=0.005,
dt=0.002,
substeps=1,
env_spacing=(2.5, 2.5),
vis=play,
),
decimation=4,
decimation=10,
episode_length_s=10.0 if not play else 1e9,
device="cuda",
robot=robot_entity_cfg,
Expand Down