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unitree_rl_gym
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add note for arbitrary scaling...

This commit is contained in:
yjinzero 2025-02-13 22:18:29 +09:00
parent 0fc5cc424d
commit d32a4cdf57
1 changed files with 1 additions and 0 deletions
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deploy/deploy_real/deploy_real_ros_ikctrl.py
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@ -258,6 +258,7 @@ class Controller:
self.lim_hi_pin[i_pin])
self.low_cmd.motor_cmd[i_mot].q = target_q
self.low_cmd.motor_cmd[i_mot].dq = 0.0
# FIXME(ycho): arbitrary scaling
self.low_cmd.motor_cmd[i_mot].kp = 0.2*float(self.config.kps[i_mot])
self.low_cmd.motor_cmd[i_mot].kd = 0.2*float(self.config.kds[i_mot])
self.low_cmd.motor_cmd[i_mot].tau = 0.0