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rl_sar
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update pt

This commit is contained in:
fan-ziqi 2025-03-11 15:17:57 +08:00
parent e328f1a5a8
commit eaf12187b2
5 changed files with 18 additions and 18 deletions
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16
src/rl_sar/models/b2/robot_lab/config.yaml
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@ -18,14 +18,14 @@ b2/robot_lab:
100.0, 100.0, 100.0,
100.0, 100.0, 100.0,
100.0, 100.0, 100.0]
rl_kp: [100.0, 100.0, 150.0,
100.0, 100.0, 150.0,
100.0, 100.0, 150.0,
100.0, 100.0, 150.0]
rl_kd: [1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0, 1.0]
rl_kp: [160.0, 160.0, 160.0,
160.0, 160.0, 160.0,
160.0, 160.0, 160.0,
160.0, 160.0, 160.0]
rl_kd: [5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
5.0, 5.0, 5.0]
fixed_kp: [200.0, 200.0, 300.0,
200.0, 200.0, 300.0,
200.0, 200.0, 300.0,

16
src/rl_sar/models/b2w/robot_lab/config.yaml
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@ -17,15 +17,15 @@ b2w/robot_lab:
100.0, 100.0, 100.0,
100.0, 100.0, 100.0,
100.0, 100.0, 100.0, 100.0]
rl_kp: [100.0, 100.0, 150.0,
100.0, 100.0, 150.0,
100.0, 100.0, 150.0,
100.0, 100.0, 150.0,
rl_kp: [160.0, 160.0, 160.0,
160.0, 160.0, 160.0,
160.0, 160.0, 160.0,
160.0, 160.0, 160.0,
0.0, 0.0, 0.0, 0.0]
rl_kd: [1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
rl_kd: [5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
5.0, 5.0, 5.0,
1.0, 1.0, 1.0, 1.0]
fixed_kp: [200.0, 200.0, 300.0,
200.0, 200.0, 300.0,

BIN
src/rl_sar/models/b2w/robot_lab/policy.pt Normal file
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src/rl_sar/models/go2w/robot_lab/policy.pt Normal file
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4
src/rl_sar/worlds/stairs.world
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@ -3,9 +3,9 @@
<world name="default">
<physics type="ode">
<max_step_size>0.0002</max_step_size>
<max_step_size>0.002</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>5000</real_time_update_rate>
<real_time_update_rate>500</real_time_update_rate>
<gravity>0 0 -9.81</gravity>
<ode>
<solver>