# 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, knee links and base. 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 with 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 feasible version is comming soon.**