From 6b1f9efe82101160fe320f3856e13aa7a4dbd70c Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Mon, 26 Aug 2024 18:16:33 +0800 Subject: [PATCH] fix: clear actions clip --- src/rl_sar/models/openloong_isaacsim/config.yaml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/rl_sar/models/openloong_isaacsim/config.yaml b/src/rl_sar/models/openloong_isaacsim/config.yaml index 342d760..cf30fc9 100644 --- a/src/rl_sar/models/openloong_isaacsim/config.yaml +++ b/src/rl_sar/models/openloong_isaacsim/config.yaml @@ -9,10 +9,8 @@ openloong_isaacsim: num_observations: 48 observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"] clip_obs: 100.0 - clip_actions_lower: [-10000, -10000, -10000, -10000, -10000, -10000, - -10000, -10000, -10000, -10000, -10000, -10000] - clip_actions_upper: [10000, 10000, 10000, 10000, 10000, 10000, - 10000, 10000, 10000, 10000, 10000, 10000] + clip_actions_lower: null + clip_actions_upper: null rl_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805, 251.625, 362.5214, 200, 200, 10.9805, 10.9805] rl_kd: [10, 10, 10, 10, 10, 10,