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+# H1_2 RL Example (Preview)
+
+## Simplified URDF
+
+This task utilizes a simplified version of URDF. We fix some joints and ignore most of the collisions.
+
+### Fixed Joints
+
+We fix all the joints in the hands, wrist and the elbow roll joints, since those joints has very limited effect on the whole body dynamics.
+
+### Collision
+
+We only keep the collision of foot roll links. Early termination is majorly check by angular position of the base.
+
+## Dynamics
+
+Free "light" end effectors can lead to unstable simulation. Thus please be carefull about the control parameters for the joints that may affect such end effectors.
+
+## Preview Stage
+
+**The reward functions is not well tuned and cannot produce satisfactory results at the current stage. A workable version will comming soon.**
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