cleanup / removing comments

kscalelabs · Jul 13, 2024 · b89bf62 · b89bf62
1 parent b1335a9
commit b89bf62
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Showing 2 changed files with 1 addition and 57 deletions.
diff --git a/sim/humanoid_gym/envs/only_legs_config.py b/sim/humanoid_gym/envs/only_legs_config.py
@@ -44,16 +44,13 @@ class asset(LeggedRobotCfg.asset):
         foot_name = "_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1"
         knee_name = "_rmd_x8_90_mock_3_inner_rmd_x8_90_1"
 
-        # 0.23
         termination_height = 0.23
         default_feet_height = 0.0
         terminate_after_contacts_on = ["link_leg_assembly_left_1_leg_part_1_2", "link_leg_assembly_right_1_leg_part_1_2"]
 
         penalize_contacts_on = []
         self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
-        # self_collisions = 1
 
-        # is2ac
         collapse_fixed_joints = True
 
         flip_visual_attachments = False
@@ -120,14 +117,9 @@ class control(LeggedRobotCfg.control):
             "ankle": 10,
             "knee": 10,
         }
-        # set all to a certain default value for now
         for k in stiffness:
             stiffness[k]*= .01
             damping[k] *= .01
-        # print(stiffness)
-        # print(damping)
-        # action scale: target angle = actionScale * action + defaultAngle
-        # action_scale = 0.25
         action_scale = 0.5
         # decimation: Number of control action updates @ sim DT per policy DT
         decimation = 10  # 100hz
@@ -209,7 +201,7 @@ class scales:
             # low_speed = 0.2
             # track_vel_hard = 0.5
 
-            # above this was removed
+            # above this was removed for standing policy
             # base pos
             default_joint_pos = 0.5
             orientation = 1

diff --git a/sim/stompy_legs/joints.py b/sim/stompy_legs/joints.py
@@ -129,54 +129,6 @@ def default_standing(cls) -> Dict[str, float]:
     @classmethod
     def default_limits(cls) -> Dict[str, Dict[str, float]]:
         return {
-            # Stompy.legs.left.hip_pitch: {
-            #     "lower": -1.32,
-            #     "upper": 0.69,
-            # },
-            # Stompy.legs.left.hip_roll: {
-            #     "lower": 1.13,
-            #     "upper": 2.14,
-            # },
-            # Stompy.legs.left.hip_yaw: {
-            #     "lower": -2.2,
-            #     "upper": -1.01,
-            # },
-            # Stompy.legs.left.knee_pitch: {
-            #     "lower": -3.14,
-            #     "upper": -2.2,
-            # },
-            # Stompy.legs.left.ankle_pitch: {
-            #     "lower": -0.14,
-            #     "upper": 1.13,
-            # },
-            # Stompy.legs.left.ankle_roll: {
-            #     "lower": -3.08,
-            #     "upper": -2.26,
-            # },
-            # Stompy.legs.right.hip_pitch: {
-            #     "lower": -5.00,
-            #     "upper": -3.83,
-            # },
-            # Stompy.legs.right.hip_roll: {
-            #     "lower": 2.39,
-            #     "upper": 3.33,
-            # },
-            # Stompy.legs.right.hip_yaw: {
-            #     "lower": -1.13,
-            #     "upper": -0.69,
-            # },
-            # Stompy.legs.right.knee_pitch: {
-            #     "lower": -1.95,
-            #     "upper": -1.00,
-            # },
-            # Stompy.legs.right.ankle_pitch: {
-            #     "lower": 0.50,
-            #     "upper": 1.54,
-            # },
-            # Stompy.legs.right.ankle_roll: {
-            #     "lower": -3.00,
-            #     "upper": -2.14,
-            # },
             Stompy.legs.left.hip_pitch: {
                 "lower": 0.5,
                 "upper": 2.69,