[gym/envs] Reduce KD gain for AkY joints of Atlas to prevent numerica…

…l instability.
duburcqa · Dec 4, 2021 · 17bfe26 · 17bfe26
1 parent d7abff7
commit 17bfe26
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/python/gym_jiminy/envs/gym_jiminy/envs/atlas.py b/python/gym_jiminy/envs/gym_jiminy/envs/atlas.py
@@ -37,9 +37,9 @@
     5000.0, 5000.0, 8000.0, 4000.0, 8000.0, 5000.0])
 PID_REDUCED_KD = np.array([
     # Left leg: [HpX, HpZ, HpY, KnY, AkY, AkX]
-    0.02, 0.01, 0.015, 0.01, 0.02, 0.01,
+    0.02, 0.01, 0.015, 0.01, 0.015, 0.01,
     # Right leg: [HpX, HpZ, HpY, KnY, AkY, AkX]
-    0.02, 0.01, 0.015, 0.01, 0.02, 0.01])
+    0.02, 0.01, 0.015, 0.01, 0.015, 0.01])
 
 PID_FULL_KP = np.array([
     # Neck: [Y]