Hi,
I deploying task Locomotion G1 23Dof , my policy have shape: (123,) after train agent on Isaac lab:
base_lin_vel: (3,)
base_ang_vel: (3)
projected_gravity: (3,)
velocity_commands: (3,)
joint_pos: (37,)
joint_vel: (37,)
actions: (37,)
When i sent target to robot, it is not move (only standup). I think issue is have not Sin, Cos phase for leggs.
But, i have not ideal to change. Please help me,
Thanks!