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OpenRobotLab / HIMLoco

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control
https://junfeng-long.github.io/HIMLoco/
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Are you planning to release code for Orbit #9

Open dhananjayrajmane opened 1 month ago

dhananjayrajmane commented 1 month ago

Hi

are you planning to release the code for orbit. I am trying to replicate your work in orbit but facing few issues in development. If possible can you help me there ?

Junfeng-Long commented 1 month ago

Hi, thank you for your interest in our work. Actually, we haven't started using Orbit. But we would like to help in our free time if you can provide more information.

dhananjayrajmane commented 1 month ago

@Junfeng-Long Thank for quick reply. I am able to collect both observations and critic/priv observations through ObservationManager but i am facing issue while implementing reward_foot_clearance.

Similarly for step() function : Orbit return observation, priv_observation, rewards , done and extras. Required guidance for getting termination_ids and termination observations.