Merge b37d5db522987671448f58ab4b52e33221e1244b into 6ce61a0241831da17a412146bcd1b0a97d50f301

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

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):