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fix: torque limits

This commit is contained in:
fan-ziqi 2024-08-26 18:17:35 +08:00
parent 6b1f9efe82
commit b9fdde3d69
1 changed files with 2 additions and 2 deletions
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4
src/rl_sar/models/openloong_isaacsim/config.yaml
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@ -28,8 +28,8 @@ openloong_isaacsim:
dof_pos_scale: 1.0 dof_pos_scale: 1.0
dof_vel_scale: 1.0 dof_vel_scale: 1.0
commands_scale: [1.0, 1.0, 1.0] commands_scale: [1.0, 1.0, 1.0]
torque_limits: [10000, 10000, 10000, 10000, 10000, 10000, torque_limits: [60.0, 45.0, 130.0, 130.0, 16.0,
10000, 10000, 10000, 10000, 10000, 10000] 60.0, 45.0, 130.0, 130.0, 16.0]
default_dof_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, default_dof_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", "l_ankle_roll_controller", joint_controller_names: ["l_hip_roll_controller", "l_hip_yaw_controller", "l_hip_pitch_controller", "l_knee_pitch_controller", "l_ankle_pitch_controller", "l_ankle_roll_controller",