From 2dcd21ec724eda91bd3a7938105e50761d8d7d64 Mon Sep 17 00:00:00 2001
From: fan-ziqi <fanziqi614@gmail.com>
Date: Fri, 3 Jan 2025 18:43:03 +0800
Subject: [PATCH] fix: del unused gr1tx_isaacsim yaml

---
 src/rl_sar/models/gr1t1_isaacsim/config.yaml | 38 --------------------
 src/rl_sar/models/gr1t2_isaacsim/config.yaml | 38 --------------------
 2 files changed, 76 deletions(-)
 delete mode 100644 src/rl_sar/models/gr1t1_isaacsim/config.yaml
 delete mode 100644 src/rl_sar/models/gr1t2_isaacsim/config.yaml

diff --git a/src/rl_sar/models/gr1t1_isaacsim/config.yaml b/src/rl_sar/models/gr1t1_isaacsim/config.yaml
deleted file mode 100644
index 19f9744..0000000
--- a/src/rl_sar/models/gr1t1_isaacsim/config.yaml
+++ /dev/null
@@ -1,38 +0,0 @@
-gr1t1_isaacsim:
-  model_name: "policy.pt"
-  framework: "isaacsim"
-  rows: 2
-  cols: 5
-  dt: 0.001
-  decimation: 20
-  num_observations: 39
-  observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
-  clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
-  rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3,
-          57.0, 43.0, 114.0, 114.0, 15.3]
-  rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5,
-          5.7, 4.3, 11.4, 11.4, 1.5]
-  fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3,
-             57.0, 43.0, 114.0, 114.0, 15.3]
-  fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5,
-             5.7, 4.3, 11.4, 11.4, 1.5]
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  action_scale: 1.0
-  lin_vel_scale: 1.0
-  ang_vel_scale: 1.0
-  dof_pos_scale: 1.0
-  dof_vel_scale: 1.0
-  commands_scale: [1.0, 1.0, 1.0]
-  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618,
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller",
-                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]
diff --git a/src/rl_sar/models/gr1t2_isaacsim/config.yaml b/src/rl_sar/models/gr1t2_isaacsim/config.yaml
deleted file mode 100644
index 0c306d8..0000000
--- a/src/rl_sar/models/gr1t2_isaacsim/config.yaml
+++ /dev/null
@@ -1,38 +0,0 @@
-gr1t2_isaacsim:
-  model_name: "policy.pt"
-  framework: "isaacsim"
-  rows: 2
-  cols: 5
-  dt: 0.001
-  decimation: 20
-  num_observations: 39
-  observations: ["ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
-  observations_history: []
-  clip_obs: 100.0
-  clip_actions_lower: [-0.4391, -1.0491, -2.0991, -0.4391, -1.3991,
-                       -1.1391, -1.0491, -2.0991, -0.4391, -1.3991]
-  clip_actions_upper: [1.1391, 1.0491, 1.0491, 2.2691, 0.8691,
-                       0.4391, 1.0491, 1.0491, 2.2691, 0.8691]
-  rl_kp: [57.0, 43.0, 114.0, 114.0, 15.3,
-          57.0, 43.0, 114.0, 114.0, 15.3]
-  rl_kd: [5.7, 4.3, 11.4, 11.4, 1.5,
-          5.7, 4.3, 11.4, 11.4, 1.5]
-  fixed_kp: [57.0, 43.0, 114.0, 114.0, 15.3,
-             57.0, 43.0, 114.0, 114.0, 15.3]
-  fixed_kd: [5.7, 4.3, 11.4, 11.4, 1.5,
-             5.7, 4.3, 11.4, 11.4, 1.5]
-  hip_scale_reduction: 1.0
-  hip_scale_reduction_indices: []
-  num_of_dofs: 10
-  action_scale: 1.0
-  lin_vel_scale: 1.0
-  ang_vel_scale: 1.0
-  dof_pos_scale: 1.0
-  dof_vel_scale: 1.0
-  commands_scale: [1.0, 1.0, 1.0]
-  torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
-                  60.0, 45.0, 130.0, 130.0, 16.0]
-  default_dof_pos: [0.0, 0.0, -0.2618, 0.5236, -0.2618,
-                    0.0, 0.0, -0.2618, 0.5236, -0.2618]
-  joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller",
-                           "r_hip_roll_controller", "r_hip_yaw_controller", "r_hip_pitch_controller", "r_knee_pitch_controller", "r_ankle_pitch_controller"]