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apirrone 2025-04-09 14:44:52 +02:00
parent 2313920cab
commit 6e1881b57e
1 changed files with 2 additions and 1 deletions
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scripts/v2_rl_walk_mujoco.py
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@ -198,6 +198,7 @@ class RLWalk:
kps = [self.pid[0]] * 14
kds = [self.pid[2]] * 14
# lower head kps
kps[5:9] = [8, 8, 8, 8]
self.hwi.set_kps(kps)
@ -377,7 +378,7 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--onnx_model_path", type=str, required=True)
parser.add_argument("-a", "--action_scale", type=float, default=0.25)
parser.add_argument("-p", type=int, default=32)
parser.add_argument("-p", type=int, default=25)
parser.add_argument("-i", type=int, default=0)
parser.add_argument("-d", type=int, default=0)
parser.add_argument("-c", "--control_freq", type=int, default=50)