Hello, and thank you for your messagea and Good luck with your project .
Yes I am doing something similar. However, in my case I am also transforming my velocities to root space.
The problem that I have is that my agent is standing still on the initial position all the time it doesnt move. Did you run into a problem similar to this? Also do you have linear velocities and angular velocities? In mujoco I only have the linear velocity of the root but for the joints I only have angular velocities. Also are you using a pd controller? I tried to code a stable pd controller but I am not sure if what I am doing is correct. For the rewards are you also taking into consideration the root pose or just the joints? And I was wondering for how long did you train the agent? Are u also using PPO?