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What does max_cmd mean in h1 depoly_real script? #30

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weiyunfei opened this issue Dec 26, 2024 · 0 comments

weiyunfei commented Dec 26, 2024

Hi, thanks for releasing deployment code for your robots.

I'm confused about the max_cmd in h1.yaml, it seems used here.

unitree_rl_gym/deploy/deploy_real/deploy_real.py

Line 191 in 757b051

self.obs[6:9] = self.cmd * self.config.cmd_scale * self.config.max_cmd

Why it is used as a coefficient like cmd_scale? Is it just a bug?

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