rafaelcaricio/Open_Duck_Mini_Runtime
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action scale 0.25

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apirrone 2025-08-01 11:59:19 +02:00
parent 60b178fa36
commit b79c2ec6d3
1 changed files with 3 additions and 3 deletions
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6
scripts/v2_rl_walk_mujoco.py
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@ -314,8 +314,8 @@ class RLWalk:
self.prev_motor_targets = self.motor_targets.copy()
head_motor_targets = self.last_commands[3:] + self.motor_targets[5:9]
self.motor_targets[5:9] = head_motor_targets
# head_motor_targets = self.last_commands[3:] + self.motor_targets[5:9]
# self.motor_targets[5:9] = head_motor_targets
action_dict = make_action_dict(
self.motor_targets, list(self.hwi.joints.keys())
@ -354,7 +354,7 @@ if __name__ == "__main__":
required=False,
default=f"{HOME_DIR}/duck_config.json",
)
parser.add_argument("-a", "--action_scale", type=float, default=1.0)
parser.add_argument("-a", "--action_scale", type=float, default=0.25)
parser.add_argument("-p", type=int, default=30)
parser.add_argument("-i", type=int, default=0)
parser.add_argument("-d", type=int, default=0)