fix: add hip_scale_reduction

src/unitree_rl/lib/model.cpp

@@ -13,8 +13,14 @@ torch::Tensor Model::quat_rotate_inverse(torch::Tensor q, torch::Tensor v)
 
 torch::Tensor Model::compute_torques(torch::Tensor actions)
 {
-    actions *= this->params.action_scale;
-    torch::Tensor torques = this->params.p_gains * (actions + this->params.default_dof_pos - this->obs.dof_pos) - this->params.d_gains * this->obs.dof_vel;
+    torch::Tensor actions_scaled = actions * this->params.action_scale;
+    int indices[] = {0, 3, 6, 9};
+    for (int i : indices)
+    {
+        actions_scaled[0][i] *= this->params.hip_scale_reduction;
+    }
+
+    torch::Tensor torques = this->params.p_gains * (actions_scaled + this->params.default_dof_pos - this->obs.dof_pos) - this->params.d_gains * this->obs.dof_vel;
     torch::Tensor clamped = torch::clamp(torques, -(this->params.torque_limits), this->params.torque_limits);
     return clamped;
 }

src/unitree_rl/lib/model.hpp

@@ -10,6 +10,7 @@ struct ModelParams {
     float damping;
     float stiffness;
     float action_scale;
+    float hip_scale_reduction;
     float num_of_dofs;
     float lin_vel_scale;
     float ang_vel_scale;

src/unitree_rl/src/unitree_rl.cpp

@@ -43,6 +43,7 @@ Unitree_RL::Unitree_RL()
     this->params.d_gains = torch::ones(12) * this->params.damping;
     this->params.p_gains = torch::ones(12) * this->params.stiffness;
     this->params.action_scale = 0.25;
+    this->params.hip_scale_reduction = 0.5;
     this->params.num_of_dofs = 12;
     this->params.lin_vel_scale = 2.0;
     this->params.ang_vel_scale = 0.25;