From 7f983855f1a55db0cad9ef52bc94cfe378cbdf91 Mon Sep 17 00:00:00 2001 From: fan-ziqi Date: Sat, 7 Dec 2024 11:52:03 +0800 Subject: [PATCH] fix: del debug print --- .../omni/isaac/lab/envs/mdp/actions/joint_actions.py | 1 - .../manager_based/locomotion/velocity/velocity_env_cfg.py | 8 +------- 2 files changed, 1 insertion(+), 8 deletions(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py index b7d867a3f5..5bbb6c76db 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py @@ -134,7 +134,6 @@ def process_actions(self, actions: torch.Tensor): index_list, _, value_list = string_utils.resolve_matching_names_values(self._clip, self._joint_names) for index in range(len(index_list)): min_value, max_value = value_list[index] - print(value_list[index]) self._processed_actions[:, index_list[index]].clip_(min_value, max_value) def reset(self, env_ids: Sequence[int] | None = None) -> None: diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py index d9e653ba0f..200a76753e 100644 --- a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py +++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py @@ -109,13 +109,7 @@ class CommandsCfg: class ActionsCfg: """Action specifications for the MDP.""" - joint_pos = mdp.JointPositionActionCfg( - asset_name="robot", - joint_names=[".*"], - scale=0.5, - use_default_offset=True, - clip={".*": (-100.0, 100.0)}, # only for test - ) + joint_pos = mdp.JointPositionActionCfg(asset_name="robot", joint_names=[".*"], scale=0.5, use_default_offset=True) @configclass