roboterax/humanoid-gym

Control a little 10-dof robot

lightbrighten opened this issue · 6 comments

lightbrighten commented

Dear Author
Appreciating for your good job!Does this can be used to trainning a method to control a small 10-dof robot,which is 0.45m tall and 10 kgs weight and with "rotate-ankle" joint missing?
I have tried this, and the "train" and "play" is stable, but "sim2sim" is unstable, which params I need to adjust in "humanoid_cfg.py"?

zzzzzzxm commented

Hi, I meet same problem. During sim2sim period, the policy trained and performed well can't perform as in play period. I trained a policy to control a robot with more joint, I think maybe I miss somethings to change in mjcf file. Have you solved the problem?

lightbrighten commented

still confused yet, not solved

zzzzzzxm commented

Adjust the order of joints should be helpful. I have solved the problem.

lightbrighten commented

Adjust the order of joints should be helpful. I have solved the problem.

Great! How to print the order of joints in humanoid-gym?

lightbrighten commented

Adjust the order of joints should be helpful. I have solved the problem.

And How many Dofs in your robot,especially legs?

wangyenjen commented

Hi @lightbrighten ,

You can print the following line to check the joint order:

humanoid-gym/humanoid/envs/base/legged_robot.py

Line 624 in 4a9c3ab

self.dof_names = self.gym.get_asset_dof_names(robot_asset)