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Control a little 10-dof robot #20
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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? |
still confused yet, not solved |
Adjust the order of joints should be helpful. I have solved the problem. |
Great! How to print the order of joints in humanoid-gym? |
And How many Dofs in your robot,especially legs? |
Hi @lightbrighten , You can print the following line to check the joint order:
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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"?
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