Integrating h1 fixes (#28)

* Fixed H1 dof_obs_size for AMP training. * Fixed H1 dof_obs_size for AMP training.
NVlabs · Nov 18, 2024 · 64f88cb · 64f88cb
1 parent d276fda
commit 64f88cb
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/phys_anim/config/robot/h1_no_head_no_hands.yaml b/phys_anim/config/robot/h1_no_head_no_hands.yaml
@@ -11,12 +11,12 @@ robot:
   dfs_dof_names: ['left_hip_yaw_joint', 'left_hip_roll_joint', 'left_hip_pitch_joint', 'left_knee_joint', 'left_ankle_joint', 'right_hip_yaw_joint', 'right_hip_roll_joint', 'right_hip_pitch_joint', 'right_knee_joint', 'right_ankle_joint', 'torso_joint', 'left_shoulder_pitch_joint', 'left_shoulder_roll_joint', 'left_shoulder_yaw_joint', 'left_elbow_joint', 'right_shoulder_pitch_joint', 'right_shoulder_roll_joint', 'right_shoulder_yaw_joint', 'right_elbow_joint']
 
   # Observation parameters
-  dof_obs_size: 19
+  dof_obs_size: ${eval:${len:${.dfs_dof_body_ids}}*6}
   number_of_actions: 19
   self_obs_max_coords_size: 298  # ${eval:1+20*(3+6+3+3)-3}
 
   # Control parameters
-  isaacgym_dof_body_ids: [ 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 ]
+  dfs_dof_body_ids: [ 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 ]
 
   key_bodies: [ "left_ankle_link", "right_ankle_link", "left_elbow_link",  "right_elbow_link" ]
   non_termination_contact_bodies: [ "left_ankle_link", "right_ankle_link" ]