From 0631f68cf0412270f1d4b8d13ec111c598e361c1 Mon Sep 17 00:00:00 2001 From: Yecheng Shao Date: Wed, 17 Jul 2024 17:32:10 +0800 Subject: [PATCH] Update README --- legged_gym/envs/h1_2/README.md | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 legged_gym/envs/h1_2/README.md diff --git a/legged_gym/envs/h1_2/README.md b/legged_gym/envs/h1_2/README.md new file mode 100644 index 0000000..c067dda --- /dev/null +++ b/legged_gym/envs/h1_2/README.md @@ -0,0 +1,21 @@ +# 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.** \ No newline at end of file