fix trotting demo

LeCAR-Lab · Sep 27, 2024 · 08ae5e9 · 08ae5e9
1 parent d119cc9
commit 08ae5e9
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/dial_mpc/envs/unitree_go2_env.py b/dial_mpc/envs/unitree_go2_env.py
@@ -228,7 +228,7 @@ def randomize():
             reward_gaits * 0.1
             + reward_air_time * 0.0
             + reward_pos * 0.0
-            + reward_upright * 0.1
+            + reward_upright * 0.5
             + reward_yaw * 0.3
             # + reward_pose * 0.0
             + reward_vel * 1.0

diff --git a/dial_mpc/examples/unitree_go2_trot.yaml b/dial_mpc/examples/unitree_go2_trot.yaml
@@ -21,7 +21,7 @@ leg_control: torque
 action_scale: 1.0
 
 # Go2
-default_vx: 1.0
+default_vx: 0.8
 default_vy: 0.0
 default_vyaw: 0.0
 ramp_up_time: 1.0