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chore: 缩小物块的大小

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gouhanke
2026-02-27 18:23:30 +08:00
parent f27e397f98
commit 1d33db0ef0
2 changed files with 2 additions and 2 deletions
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2
roboimi/assets/models/manipulators/DianaMed/box.xml
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@@ -3,7 +3,7 @@
<body name="box" pos="0.2 1.0 0.47"> <body name="box" pos="0.2 1.0 0.47">
<joint name="red_box_joint" type="free" frictionloss="0.01" /> <joint name="red_box_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" /> <geom contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.018 0.018 0.02" type="box" name="red_box" rgba="1 0 0 1" />
</body> </body>
</worldbody> </worldbody>
</mujoco> </mujoco>

2
roboimi/vla/conf/agent/resnet_diffusion.yaml
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@@ -25,7 +25,7 @@ normalization_type: "min_max" # "min_max" or "gaussian"
# ==================== # ====================
pred_horizon: 16 # 预测未来多少步动作 pred_horizon: 16 # 预测未来多少步动作
obs_horizon: 2 # 使用多少步历史观测 obs_horizon: 2 # 使用多少步历史观测
num_action_steps: 16 # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1） num_action_steps: 8 # 每次推理实际执行多少步动作（应 <= pred_horizon - obs_horizon + 1）
# ==================== # ====================
# 相机配置 # 相机配置