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cyy_mac
2026-07-25 22:28:49 +08:00
parent 812e3c63f0
commit 08456e950b
1 changed files with 16 additions and 16 deletions
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deploy_45dim_rl_gym/README.md
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@@ -466,22 +466,22 @@ rx <= 0.2
```bash ```bash
mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \ mjpython deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py \
--kill-sport \ --kill-sport \
--enable-rl \ --enable-rl \
--log-dir logs \ --log-dir logs \
--kp 40 --kd 0.8 \ --kp 36 --kd 1.0 \
--kp-cal 20 --kd-cal 1.0 \ --kp-cal 20 --kd-cal 1.0 \
--power-factor 6 \ --power-factor 9 \
--position-protect-limit 1.2 \ --position-protect-limit 0.0 \
--action-clip 4.0 \ --action-clip 5.0 \
--action-trip-limit 9.0 \ --action-trip-limit 8.0 \
--max-target-step 0.15 \ --max-target-step 0.0 \
--max-roll-deg 45 \ --max-roll-deg 50 \
--max-pitch-deg 45 \ --max-pitch-deg 50 \
--swap-vy-yaw \ --swap-vy-yaw \
--rc-vx-scale 0.5 \ --rc-vx-scale 0.5 \
--rc-vy-scale 0.5 \ --rc-vy-scale 0.5 \
--rc-wz-scale 1.0 --rc-wz-scale 1.0
``` ```
如果动作幅度仍明显不够，再把 `--max-target-step` 从 `0.15` 加到 `0.20`。只有确认目标变化率限制确实挡住抬腿时，才短时间对照测试 `--max-target-step 0`。 如果动作幅度仍明显不够，再把 `--max-target-step` 从 `0.15` 加到 `0.20`。只有确认目标变化率限制确实挡住抬腿时，才短时间对照测试 `--max-target-step 0`。