History

Yecheng Shao a79150da97 fix typo		2024-07-17 17:36:47 +08:00
..
README.md	fix typo	2024-07-17 17:36:47 +08:00
h1_2_config.py	add task	2024-07-17 17:20:50 +08:00

README.md

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 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.