[Question] Improving RL Training for Unitree G1: Adding Minimal Height Restriction for Center of Mass

[XinyuSong123]

Hi, I recently conducted RL training with the Unitree G1 on flat terrain. The results show that, while it can move toward the commanded velocity, it struggles to stand up and exhibits a very unusual gait. After checking the reward settings, I found that there is no height restriction for the center of mass (presumably the torso link). Could you provide some guidance on how to add a minimum height restriction for the torso link? Thank you!