From 08ae5e9a1641e18999d2c7a3e0d6e4ec93bc6e8e Mon Sep 17 00:00:00 2001 From: Haoru Xue Date: Thu, 26 Sep 2024 20:38:03 -0700 Subject: [PATCH] fix trotting demo --- dial_mpc/envs/unitree_go2_env.py | 2 +- dial_mpc/examples/unitree_go2_trot.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/dial_mpc/envs/unitree_go2_env.py b/dial_mpc/envs/unitree_go2_env.py index d111718..ac08544 100644 --- 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 index e4ff16f..32fef8b 100644 --- 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