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roboterax / humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
https://sites.google.com/view/humanoid-gym/
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Hard Coded Value in legged_robot.py #7

Closed Ke-Wang1017 closed 2 months ago

Ke-Wang1017 commented 2 months ago

Hi just realized that in the init_buffers() function the dimension of self.rigid_states is hard-coded, this might cause problems if other robots are used and has different number of bodies

https://github.com/roboterax/humanoid-gym/blob/main/humanoid/envs/base/legged_robot.py#L455

wangyenjen commented 2 months ago

Hi @Ke-Wang1017 ,

Polish up:

Thanks for drawing our attention to this problem! In this PR, @jufrick has helped us to address it. Much appreciated, you guys!

Ke-Wang1017 commented 2 months ago

Excellent! Can't wait to see the new version!