Update kinfer module #134
Update kinfer module #134
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WT-MM
commented
Dec 30, 2024
•
WT-MM
commented
- Add back kinfer support
- Bring back imu
sim/envs/base/legged_robot.py
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| @@ -81,6 +81,7 @@ def step(self, actions): | |||
| def reset(self): | |||
| """Reset all robots""" | |||
| self.reset_idx(torch.arange(self.num_envs, device=self.device)) | |||
| self._resample_default_positions() | |||
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You have that already in the config start_pos_noise.
See
sim/sim/envs/base/legged_robot.py
Line 385 in 8a63381
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start_pos_noise is different from randomly changing the default position though right?
The current thing with episode resets just tells the robot to have a diff init position but I also wanted to add some noise to the reference default position.
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What's the point of adding noise to reference position that is ground truth?
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because in real life there's some variance to the reference
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If you want to test that then change the code cause right now start_pos_noise randomly adds noise to the default position
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well we want that too right? the default dof pos randomization affects the model input and output
sim/envs/humanoids/gpr_config.py
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| @@ -79,6 +168,9 @@ class noise_scales: | |||
| quat = 0.03 | |||
| height_measurements = 0.1 | |||
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| class noise_ranges: | |||
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remove - see my comment above
