velocity training #448
Description
cfg.rewards["pose"].params["std_walking"] = {
# Lower body.
r".hip_pitch.": 0.3,
r".hip_roll.": 0.15,
r".hip_yaw.": 0.15,
r".knee.": 0.35,
r".ankle_pitch.": 0.25,
r".ankle_roll.": 0.1,
# Waist.
r".waist_yaw.": 0.2,
r".waist_roll.": 0.08,
r".waist_pitch.": 0.1,
# Arms.
r".shoulder_pitch.": 0.15,
r".shoulder_roll.": 0.15,
r".shoulder_yaw.": 0.1,
r".elbow.": 0.15,
r".wrist.": 0.3,
}Hello, I'd like to understand your thought process behind this configuration in the env_cfg. I'm currently not using the G1 robot; if I want to adapt it for my own robot, how should I make the adjustments? The training results I'm getting show that the robot's posture is very strange and it clips through objects. Since my training configuration is consistent with your project, I suspect the issue might be here.[
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