From a15ac74be01d60dab5715d75d096498ddf29c125 Mon Sep 17 00:00:00 2001 From: Yecheng Shao Date: Wed, 17 Jul 2024 17:58:37 +0800 Subject: [PATCH] Update README --- legged_gym/envs/h1_2/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/legged_gym/envs/h1_2/README.md b/legged_gym/envs/h1_2/README.md index 8da31c2..b9214b1 100644 --- a/legged_gym/envs/h1_2/README.md +++ b/legged_gym/envs/h1_2/README.md @@ -6,11 +6,11 @@ This task utilizes a simplified version of URDF. We fix some joints and ignore m ### Fixed Joints -We fix all the joints in the hands, wrist and the elbow roll joints, since those joints have very limited effect on the whole body dynamics and are commonly controlled by other controllers. +We fix all the joints in the hands, wrists and the elbow roll joints, since those joints have very limited effect on the whole body dynamics and are commonly controlled by other controllers. -### Collision +### Collisions -We only keep the collision of foot roll links, knee links and base. Early termination is majorly check by angular position of the base. +We only keep the collision of foot roll links, knee links and the base. Early termination is majorly checked by the angular position of the base. ## Dynamics @@ -18,4 +18,4 @@ Free "light" end effectors can lead to unstable simulation. Thus please be caref ## Preview Stage -**The reward functions is not well tuned and cannot produce satisfactory results at the current stage. A feasible version is comming soon.** \ No newline at end of file +**The reward functions are not well tuned and cannot produce satisfactory results at the current stage. A feasible version is comming soon.** \ No newline at end of file