hehesheng/unitree_rl_gym
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Merge b37d5db522987671448f58ab4b52e33221e1244b into 6ce61a0241831da17a412146bcd1b0a97d50f301

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Ziluo Ding 2024-09-10 20:17:14 +08:00 committed by GitHub
commit 0a45ff0c7d
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4 changed files with 2 additions and 3 deletions
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legged_gym/envs/h1/h1_config.py
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@ -69,7 +69,7 @@ class H1RoughCfg( LeggedRobotCfg ):
class rewards( LeggedRobotCfg.rewards ): class rewards( LeggedRobotCfg.rewards ):
soft_dof_pos_limit = 0.9 soft_dof_pos_limit = 0.9
base_height_target = 0.98 base_height_target = 0.98
class scales( LeggedRobotCfg.rewards.scales ): class scales( LeggedRobotCfg.rewards.scales):
tracking_lin_vel = 1.0 tracking_lin_vel = 1.0
tracking_ang_vel = 0.5 tracking_ang_vel = 0.5
lin_vel_z = -2.0 lin_vel_z = -2.0

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

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