Modify state variable function “（def get_observations(））” #174
Description
obs = torch.cat(
(
# torso_position[:, 2].view(-1, 1),
vel_loc,
angvel_loc * angular_velocity_scale,
normalize_angle(yaw).unsqueeze(-1),
normalize_angle(roll).unsqueeze(-1),
normalize_angle(angle_to_target).unsqueeze(-1),
up_proj.unsqueeze(-1),
heading_proj.unsqueeze(-1),
dof_pos_scaled,
dof_vel * dof_vel_scale,
sensor_force_torques.reshape(num_envs, -1) * contact_force_scale,
actions,
),
dim=-1,
)
When I comment out this line of code "# torso_position[:, 2].view(-1, 1)," I find that the running effect is very different. How can I solve this problem?