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unitree_rl_gym
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disable clip

This commit is contained in:
Yoonyoung Cho 2025-02-17 14:01:41 +09:00
parent 3d4707dfd6
commit 37926bf885
1 changed files with 5 additions and 5 deletions
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10
deploy/deploy_real/act_to_dof.py
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@ -145,11 +145,11 @@ class ActToDof:
self.default_nonarm + 0.5 * non_arm_joint_pos
)
target_dof_pos = np.clip(
target_dof_pos,
self.lim_lo_pin[self.pin_from_mot],
self.lim_hi_pin[self.pin_from_mot]
)
# target_dof_pos = np.clip(
# target_dof_pos,
# self.lim_lo_pin[self.pin_from_mot],
# self.lim_hi_pin[self.pin_from_mot]
# )
return target_dof_pos