v2.0.0

deltartificial released this 24 Dec 16:53

· 10 commits to main since this release

a9d8cc6

Phase 2: Full Body Control

Breaking change: Network architecture changed (12 → 29 DOFs)

Upgrade from 12 to 29 DOFs control
Add differentiated PD gains (legs/waist/arms)
Add arm_swing and arm_close_to_body rewards
Remove upper body locking for RL control
Natural walking with arm swing synchronization

Assets 2