From 6ce61a0241831da17a412146bcd1b0a97d50f301 Mon Sep 17 00:00:00 2001
From: Yecheng Shao <rd_syc@unitree.com>
Date: Tue, 10 Sep 2024 19:37:37 +0800
Subject: [PATCH] update rewards

---
 legged_gym/envs/h1_2/h1_2_config.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/legged_gym/envs/h1_2/h1_2_config.py b/legged_gym/envs/h1_2/h1_2_config.py
index 0e498d5..200cc75 100644
--- a/legged_gym/envs/h1_2/h1_2_config.py
+++ b/legged_gym/envs/h1_2/h1_2_config.py
@@ -97,12 +97,11 @@ class H1_2RoughCfg(LeggedRobotCfg):
             ang_vel_xy = -0.1
             orientation = -0.1
             base_height = -10.0
-            dof_acc = -3.5e-9
+            dof_acc = -3e-8
             feet_air_time = 1.0
             collision = 0.0
-            action_rate = -0.001
-            torques = 0.0
-            dof_pos_limits = -1.0
+            action_rate = -0.1
+            dof_pos_limits = -10.0
         
         only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems)