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fix: clear actions clip

This commit is contained in:
fan-ziqi 2024-08-26 18:16:33 +08:00
parent 8f345f61d6
commit 6b1f9efe82
1 changed files with 2 additions and 4 deletions
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6
src/rl_sar/models/openloong_isaacsim/config.yaml
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@ -9,10 +9,8 @@ openloong_isaacsim:
num_observations: 48 num_observations: 48
observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"] observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
clip_obs: 100.0 clip_obs: 100.0
clip_actions_lower: [-10000, -10000, -10000, -10000, -10000, -10000, clip_actions_lower: null
-10000, -10000, -10000, -10000, -10000, -10000] clip_actions_upper: null
clip_actions_upper: [10000, 10000, 10000, 10000, 10000, 10000,
10000, 10000, 10000, 10000, 10000, 10000]
rl_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805, rl_kp: [251.625, 362.5214, 200, 200, 10.9805, 10.9805,
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, rl_kd: [10, 10, 10, 10, 10, 10,