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fix: register dreamwaq env, disable missing stair envs

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8x54zj-m
2026-06-30 14:56:01 +08:00
parent 422421d263
commit 3fd2793f28
2 changed files with 23 additions and 40 deletions
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1
motrix_envs/src/motrix_envs/locomotion/go1/__init__.py
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@@ -14,3 +14,4 @@
# ============================================================================== # ==============================================================================
from . import walk_np, walk_rough_terrain, walk_stairs_terrain # noqa: F401 register envs from . import walk_np, walk_rough_terrain, walk_stairs_terrain # noqa: F401 register envs
from . import dreamwaq # noqa: F401 register DreamWaQ env

62
motrix_rl/src/motrix_rl/tasks/go1.py
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@@ -62,22 +62,16 @@ class skrl:
models.policy.hiddens = [512, 256, 128] models.policy.hiddens = [512, 256, 128]
models.value.hiddens = [512, 256, 128] models.value.hiddens = [512, 256, 128]
@rlcfg("go1-stairs-terrain-walk") # @rlcfg("go1-stairs-terrain-walk") # env file missing, disabled
@dataclass # @dataclass
class Go1WalkStairsPPO(Go1WalkRoughSkrlPpo): ... # class Go1WalkStairsPPO(Go1WalkRoughSkrlPpo): ...
@rlcfg("go1-stairs-terrain-walk-no-linevel") # @rlcfg("go1-stairs-terrain-walk-no-linevel") # env file missing, disabled
@dataclass # @dataclass
class Go1WalkStairsNoLinvelSkrlPpo(Go1WalkRoughSkrlPpo): # class Go1WalkStairsNoLinvelSkrlPpo(Go1WalkRoughSkrlPpo):
"""Go1 stairs terrain walk (no linear velocity obs) - SKRL PPO config. # def __post_init__(self):
# super().__post_init__()
Uses [512, 256, 128] network from rough terrain config. # self.runner.trainer.timesteps = 60000
Increased timesteps for 4-phase curriculum.
"""
def __post_init__(self):
super().__post_init__()
self.runner.trainer.timesteps = 60000
class rslrl: class rslrl:
@@ -172,29 +166,17 @@ class rslrl:
self.runner.actor.hidden_dims = [512, 256, 128] self.runner.actor.hidden_dims = [512, 256, 128]
self.runner.critic.hidden_dims = [512, 256, 128] self.runner.critic.hidden_dims = [512, 256, 128]
@rlcfg("go1-stairs-terrain-walk") # @rlcfg("go1-stairs-terrain-walk") # env file missing, disabled
@dataclass # @dataclass
class Go1WalkStairsRslrlPpo(Go1WalkRoughRslrlPpo): # class Go1WalkStairsRslrlPpo(Go1WalkRoughRslrlPpo):
"""Go1 robot walk on stairs terrain - RSLRL PPO configuration. # def __post_init__(self):
# super().__post_init__()
# self.runner.experiment_name = "go1_stairs_terrain_walk"
Uses same configuration as rough terrain since stairs also require complex handling. # @rlcfg("go1-stairs-terrain-walk-no-linevel") # env file missing, disabled
""" # @dataclass
# class Go1WalkStairsNoLinvelRslrlPpo(Go1WalkRoughRslrlPpo):
def __post_init__(self): # def __post_init__(self):
super().__post_init__() # super().__post_init__()
self.runner.experiment_name = "go1_stairs_terrain_walk" # self.runner.experiment_name = "go1_stairs_terrain_walk_no_linevel"
# self.runner.max_iterations = 2000
@rlcfg("go1-stairs-terrain-walk-no-linevel")
@dataclass
class Go1WalkStairsNoLinvelRslrlPpo(Go1WalkRoughRslrlPpo):
"""Go1 stairs terrain walk (no linear velocity obs) - RSLRL PPO config.
Uses [512, 256, 128] network from rough terrain config.
Increased iterations for 4-phase curriculum.
"""
def __post_init__(self):
super().__post_init__()
self.runner.experiment_name = "go1_stairs_terrain_walk_no_linevel"
self.runner.max_iterations = 2000
self.runner.experiment_name = "go1_stairs_terrain_walk_no_linevel"