In 'config_teleop': Could not find 'rewards/rewards_teleop'

[flyflyly]

When I run python legged_gym/scripts/play_hydra.py --config-name=config_teleop task=h1:teleop env.num_observations=913 env.num_privileged_obs=990 motion.future_tracks=True motion.teleop_obs_version=v-teleop-extend-max-full motion=motion_full motion.extend_head=True asset.zero_out_far=False asset.termination_scales.max_ref_motion_distance=10.0 sim_device=cuda:0 load_run=25_05_14_22-02-35_OmniH2O_TEACHER checkpoint=25500 num_envs=1 headless=False

I meet the following error:

Building extension module gymtorch...
Allowing ninja to set a default number of workers... (overridable by setting the environment variable MAX_JOBS=N)
ninja: no work to do.
Loading extension module gymtorch...
2025-05-29 17:09:13,200 - INFO - logger - logger initialized
MOVING MOTION DATA TO GPU, USING CACHE: False
MOVING MOTION DATA TO GPU, USING CACHE: False
In 'config_teleop': Could not find 'rewards/rewards_teleop'

Available options in 'rewards':
rewards_base
rewards_teleop_omnih2o_teacher
Config search path:
provider=hydra, path=pkg://hydra.conf
provider=main, path=file:///data1/leg_rl_Project/human2humanoid/legged_gym/legged_gym/cfg
provider=schema, path=structured://

Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

[flyflyly]

When I add the paramer rewards=rewards_teleop_omnih2o_teacher , I could run the commend line. But the results is not good.

The robot fall down.

[RyanJiao]

How many iterations did you train? I trained for 2000 iterations and it's slightly better than this.

[RyanJiao]

And can you find 'amass_phc_filtered.pkl'? I changed 'amass_phc_filtered.pkl' to 'stable_punch.pkl' in order to run this.

[baolef]

And can you find 'amass_phc_filtered.pkl'? I changed 'amass_phc_filtered.pkl' to 'stable_punch.pkl' in order to run this.

I believe you can find it here under this section.

[syx-congcong]

Why can't I run the program even after adding rewards=rewards_teleop_omnih2o_teacher , Isaac Gym still have a blank interface?

[Curry666987]

Why can't I run the program even after adding rewards=rewards_teleop_omnih2o_teacher , Isaac Gym still have a blank interface?

The issue is likely with the motion_file. The default motion_file in the code is amass_phc_filtered.pkl, but if you follow their example to run train_hydra.py, it trains on stable_punch.pkl. I think your problem occurs during play because you didn't specify the motion_file, causing it to use the default amass_phc_filtered.pkl. Since you haven't downloaded this file, it leads to Isaac Gym crashing.