Limiting DeepMimic to upper body

Official Python bindings with a focus on reinforcement learning and robotics.
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Joined: Thu Sep 17, 2020 9:55 am

Limiting DeepMimic to upper body

Post by ftavella »


I am working on a RL task similar to DeepMimic, but limited to the upper part of the body.
I changed the URDF obtaining something like this:

I also adapted the code so that it consider fewer joints and there is no gravity, as I don't want my character falling to the ground and resetting the simulation.
However, when I train my character I obtain weird results, like the torso floating around. I tried to set the useFixedBase flag in and it solves the floating issue, but then the torso starts randomly rotate around the base.

Do you have any suggestions about what I might need to change? Should I change the base to something like a cylinder and place it on the ground?

Many thanks in advance
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