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xbpeng / DeepMimic

Motion imitation with deep reinforcement learning.
https://xbpeng.github.io/projects/DeepMimic/index.html
MIT License
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Mass distribution over different segments #168

Open tfederico opened 2 years ago

tfederico commented 2 years ago

Hi,

how do you calculate the distribution of the mass over the different segments? Did you use any reference from the literature?

The only thing the paper mentions is the total weight of the body, but no info about how you divided the total over the different segments

xbpeng commented 2 years ago

The masses of the different body parts are mainly ad hoc. We just looked up what the average mass of different body parts in the human body typically is and used those ballpark figures.

tfederico commented 2 years ago

I see, thanks! I did the same but I found that some of that were a bit different so I wanted to double check.

What about the joint limits? Did you use a reference for those as well?

tfederico commented 2 years ago

Sorry, I meant the max forces/effort applicable to each joint and the term kp for the PID controller when I said joint limits. Are they related in some way to the mass of the body parts?