How to train with my own bipedal robot

[QingWind6]

I want to use my own robot to achieve motion tracking training. What code do I need to modify?

[lgulich]

Hi QingWind6

First you will need to retarget the reference motions for your specific robot using similar instructions as here. Please consult the human2humanoid repo for more information on how to do this for new robots.

Next, you will have to create a new env config for your robot, similar to the one here.

In the training/play/eval scripts, you will then have to add your new config, similar to how it's done here for the H1 robot.

Unfortunately there are currently still some indices that are hardcoded in the reward, namely here, here, here and here. You will have to adapt those too for your robot.