From bcb065d08fc59ee531ecd6d6e80aff7d9f6dc17a Mon Sep 17 00:00:00 2001
From: Ziluo Ding <leondg@outlook.com>
Date: Mon, 22 Apr 2024 11:31:02 +0800
Subject: [PATCH 1/6] Remove unnecessary parts

---
 .DS_Store           | Bin 0 -> 8196 bytes
 resources/.DS_Store | Bin 0 -> 6148 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 .DS_Store
 create mode 100644 resources/.DS_Store

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..501a7b314c5e7f548a2f1c1c26e15ab257699f5d
GIT binary patch
literal 8196
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zH~0d+p%UkE=ZZM-10ZpRA1E`s+hRLTjuC<#Y4@#n=Xus|*LKDM09G416@U!@Ft897
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Hr7G|nOvEb7

literal 0
HcmV?d00001

diff --git a/resources/.DS_Store b/resources/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..08cf7f5c9268130617dccab43348342e52b9285f
GIT binary patch
literal 6148
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zuAUC}7b=`_S0h<sfEbu(0DC_W2habLpZk9mM1~k329}cnUg~<?4%BAO)`cqZtQDZQ
rpePuZYy3)qfjWvI7LVc$P$l3OH~@4F<{H5RLO%kE1~SCJpEB?X+&@^U

literal 0
HcmV?d00001


From cc5a328a2877bee21ccb83530384bb539a149469 Mon Sep 17 00:00:00 2001
From: Ziluo Ding <leondg@outlook.com>
Date: Mon, 22 Apr 2024 11:31:30 +0800
Subject: [PATCH 2/6] Initialization

---
 .DS_Store | Bin 8196 -> 8196 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/.DS_Store b/.DS_Store
index 501a7b314c5e7f548a2f1c1c26e15ab257699f5d..0d2f779aa476b2948cf74a4f17bb36f9ae5fc40d 100644
GIT binary patch
delta 111
zcmZp1XmQw}CJ<M<fq{X6g+Y%YogtH<Bsbs1B`GIA2`I*KAt`bn$LphxsPZXr`5fb*
g-RSZK8HT~h`MCu^Jq!%H4Hzcx6_nUKM<9bA0E?C#z5oCK

delta 111
zcmZp1XmQw}CJ<Nhk%57Mg+Y%YogtH<Bsbs1B`GIA2`I(^#H=k(jyj^sr{I+@$S@2}
Y&d)6X>S18mb%9~>UO|b?a|AN@0qQdwlmGw#


From c25f5f6b0f5d464ddbf70fe5fa9dd42768344766 Mon Sep 17 00:00:00 2001
From: Ziluo Ding <leondg@outlook.com>
Date: Mon, 22 Apr 2024 11:31:44 +0800
Subject: [PATCH 3/6] Update .DS_Store

---
 .DS_Store | Bin 8196 -> 8196 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/.DS_Store b/.DS_Store
index 0d2f779aa476b2948cf74a4f17bb36f9ae5fc40d..521a70680cce974f7c87ef90b91ae0a8cf924534 100644
GIT binary patch
delta 111
zcmZp1XmQw}CJ;CK5(5JR3xgg*IzuKyNp8N2OHxjL5>SjoKgjeX$LphxsPZXz<qI+l
agOl@f3xIkU7<MmUn7mg|V)Gn<41NG*fgN`M

delta 111
zcmZp1XmQw}CJ<M<fq{X6g+Y%YogtH<Bsbs1B`GIA2`I*KAt`bn$LphxsPZXr`5fb*
g-RSZK8HT~h`MCu^Jq!%H4Hzcx6_nUKM<9bA0E?C#z5oCK


From e9107dfb7ca62fc5d36c3b5bc94800aa7844101d Mon Sep 17 00:00:00 2001
From: Ziluo Ding <leondg@outlook.com>
Date: Mon, 22 Apr 2024 12:13:34 +0800
Subject: [PATCH 4/6] Update .DS_Store

---
 .DS_Store | Bin 8196 -> 8196 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/.DS_Store b/.DS_Store
index 521a70680cce974f7c87ef90b91ae0a8cf924534..46defa99a454376c21c85f003c4a0c84268f15c7 100644
GIT binary patch
delta 111
zcmZp1XmQw}CJ?veJOcv*3xgg*IzuKyNp8N2OHxjL5>Si-i2Hb6A9X~PPr)l+kYN~{
YoS$0&)Wg8AM}T4SUO|b?a|AN@0rP_!6aWAK

delta 111
zcmZp1XmQw}CJ;CK5(5JR3xgg*IzuKyNp8N2OHxjL5>SjoKgjeX$LphxsPZXz<qI+l
agOl@f3xIkU7<MmUn7mg|V)Gn<41NG*fgN`M


From 6f298b4435893dceda5733e1a4a1b91882546f3b Mon Sep 17 00:00:00 2001
From: Ziluo Ding <leondg@outlook.com>
Date: Mon, 1 Jul 2024 16:26:40 +0800
Subject: [PATCH 5/6] Update helpers.py

---
 legged_gym/utils/helpers.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/legged_gym/utils/helpers.py b/legged_gym/utils/helpers.py
index dc231af..7dc9716 100644
--- a/legged_gym/utils/helpers.py
+++ b/legged_gym/utils/helpers.py
@@ -157,8 +157,7 @@ def export_policy_as_jit(actor_critic, path):
         path = os.path.join(path, 'policy_1.pt')
         model = copy.deepcopy(actor_critic.actor).to('cpu')
         traced_script_module = torch.jit.script(model)
-        traced_script_module.save(path)
-
+        traced_script_module.save(path) 
 
 class PolicyExporterLSTM(torch.nn.Module):
     def __init__(self, actor_critic):

From b37d5db522987671448f58ab4b52e33221e1244b Mon Sep 17 00:00:00 2001
From: Ziluo Ding <leondg@outlook.com>
Date: Sat, 20 Jul 2024 16:13:18 +0800
Subject: [PATCH 6/6] Update h1_config.py

---
 legged_gym/envs/h1/h1_config.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/legged_gym/envs/h1/h1_config.py b/legged_gym/envs/h1/h1_config.py
index ba4c3a1..e4e746e 100644
--- a/legged_gym/envs/h1/h1_config.py
+++ b/legged_gym/envs/h1/h1_config.py
@@ -69,7 +69,7 @@ class H1RoughCfg( LeggedRobotCfg ):
     class rewards( LeggedRobotCfg.rewards ):
         soft_dof_pos_limit = 0.9
         base_height_target = 0.98
-        class scales( LeggedRobotCfg.rewards.scales ):
+        class scales( LeggedRobotCfg.rewards.scales):
             tracking_lin_vel = 1.0
             tracking_ang_vel = 0.5
             lin_vel_z = -2.0