PD Gains for other Humanoids...

[SidPad]

Hi thank you so much for your work,
I have been running the rl_mimic training code to train experts of different robots using position control. However, the PD gains are only available for Unitree H1, the XML files for the other humanoids do not seem to contain their respective PD gains. Can I use the original PD gains from the respective sources or are there any specific PD gains you use for these humanoids? I am also not sure if you use the same joint nomenclature as the source...
Thanks in advance

[sneha3799]

Have you been able to make it work?? I have been trying to train with Booster T1 robot, but still it's not learning anything. I have tried bunch of hyper parameters and the PD gains, but nothing is working.