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unitree_rl_gym
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update rewards

This commit is contained in:
Yecheng Shao 2024-09-10 19:37:37 +08:00
parent c660217810
commit 6ce61a0241
1 changed files with 3 additions and 4 deletions
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7
legged_gym/envs/h1_2/h1_2_config.py
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@ -97,12 +97,11 @@ class H1_2RoughCfg(LeggedRobotCfg):
ang_vel_xy = -0.1 ang_vel_xy = -0.1
orientation = -0.1 orientation = -0.1
base_height = -10.0 base_height = -10.0
dof_acc = -3.5e-9 dof_acc = -3e-8
feet_air_time = 1.0 feet_air_time = 1.0
collision = 0.0 collision = 0.0
action_rate = -0.001 action_rate = -0.1
torques = 0.0 dof_pos_limits = -10.0
dof_pos_limits = -1.0
only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems) only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems)