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Update h1_config.py

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Ziluo Ding 2024-07-20 16:13:18 +08:00
parent 6f298b4435
commit b37d5db522
1 changed files with 1 additions and 1 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