Loco actionspace fix #230
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Loco actionspace fix #230
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… extra control on top of theaction space. Normalization is handled while appending OSL values. This ensure that robot class can appropriately handle the action space normalization while rolling the sim/hardware
vikashplus
requested review from
elladyr,
Vittorio-Caggiano and
P-Schumacher
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Fixed the flat terrain in 59a26ba |
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I have finished my changes and it is ready to be merged. |
| @@ -506,7 +517,7 @@ def get_internal_qpos(self): | |||
| to_remove = [self.sim.model.joint('osl_knee_angle_r').qposadr[0].copy(), self.sim.model.joint('osl_ankle_angle_r').qposadr[0].copy()] | |||
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| temp_qpos[to_remove] = 100 | |||
| temp_qpos[temp_qpos != 100] | |||
| temp_qpos = temp_qpos[temp_qpos != 100] | |||
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why is this condition needed?
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All the OSL joint observations need to be removed. This is just to filter and shorten the final array
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would it be possible to add the number of physiological joints as variable instead of hardcode the number?
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Yes. I can do that. Give me a moment
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Ok done. I have also done the same for the muscles as well.
ttktjmt
pushed a commit
to ttktjmt/myosuite
that referenced
this pull request
Feb 12, 2025
Loco actionspace fix
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Landed the fix. There are two high level changes
TODOs:
myoChallengeOslRunFixed-v0is adjusted properly to ensure that terrain randomization doesn't change during reset.@raku-slyu - ensure that the docs are updating properly as per the changes here.