joint_angle

[fork6699]

Could you please let me know which information in the policy1.pt file contains the real-time joint angles of the robot's movement?

[zlw21gxy]

In a single observation, the obs_buf[:, 5:17] contains the joint position. Since we concatenate 15 frames, you can do the math. You can reference this

humanoid-gym/humanoid/envs/custom/humanoid_env.py

Line 237 in 620c5fa

obs_buf = torch.cat((

and

humanoid-gym/humanoid/envs/custom/humanoid_env.py

Line 258 in 620c5fa

obs_buf_all = torch.stack([self.obs_history[i]

.