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1st version

This commit is contained in:
Jerry Xu 2024-06-04 15:09:41 -04:00
parent edde9b8f8a
commit 2e10955b90
2 changed files with 2 additions and 2 deletions
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2
legged_gym/legged_gym/scripts/play_vel.py
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@ -113,7 +113,7 @@ def play(args):
if "one_obstacle_per_track" in env_cfg.terrain.BarrierTrack_kwargs.keys():
env_cfg.terrain.BarrierTrack_kwargs.pop("one_obstacle_per_track")
env_cfg.terrain.BarrierTrack_kwargs["n_obstacles_per_track"] = 2# 2
env_cfg.terrain.BarrierTrack_kwargs["n_obstacles_per_track"] = 1# 2
env_cfg.commands.ranges.lin_vel_x = [3.0, 3.0] # [1.2, 1.2]
env_cfg.terrain.BarrierTrack_kwargs['track_block_length']= 2.
if "distill" in args.task:

2
rsl_rl/rsl_rl/algorithms/ppo.py
View File

@ -238,7 +238,7 @@ class PPO:
if current_learning_iteration is None:
vel_loss = 0
else:
vel_loss = torch.square(velocity-2).mean() * np.exp(-0.01 * current_learning_iteration + 165)
vel_loss = torch.square(velocity-2).mean() * np.exp(-0.001 * current_learning_iteration + 12)
vel_loss += torch.square(torch.clamp_max(velocity, 1.) - 1).mean()
return_ = dict(