dof vel penalty

apirrone · Aug 7, 2024 · 385b5e4 · 385b5e4
1 parent 9276937
commit 385b5e4
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/legged_gym/envs/bdx/bdx_amp_config.py b/legged_gym/envs/bdx/bdx_amp_config.py
@@ -85,7 +85,7 @@ class control(LeggedRobotCfg.control):
         # effort = 20  # Nm
 
         stiffness_all = 10.0  # 4 [N*m/rad]
-        damping_all = 0.5  # 0.1 [N*m*s/rad]
+        damping_all = 0.05  # 0.1 [N*m*s/rad]
         stiffness = {
             "right_hip_yaw": stiffness_all,
             "right_hip_roll": stiffness_all,

diff --git a/rsl_rl/rsl_rl/datasets/motion_loader.py b/rsl_rl/rsl_rl/datasets/motion_loader.py
@@ -404,7 +404,7 @@ def blend_frame_pose(self, frame0, frame1, blend):
                 blend_root_pos,
                 blend_root_rot,
                 blend_joints,
-                # blend_tar_toe_pos,
+                blend_tar_toe_pos,
                 blend_linear_vel,
                 blend_angular_vel,
                 blend_joints_vel,