K-Scale Humanoid Gym

K-Scale has an updated fork of Humanoid Gym available at .

One of the significant changes involved modifying how the framework handles the initialization of simulation data. Previously, the framework used a fixed dimension for reshaping tensors, which limited its flexibility in handling different numbers of bodies in the simulation. The recent update adjusted this process to allow for any number of bodies, thereby improving the framework's ability to manage various simulation scenarios more effectively.