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v1.0.3; fix last_last_action reset, resample_command befor compute reward bugs; add self collisions

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wty-yy
2026-04-03 11:06:53 +08:00
parent c02a6aabff
commit 1029c41a0b
7 changed files with 29 additions and 22 deletions
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2
legged_gym/envs/go2/go2_config.py
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@@ -151,7 +151,7 @@ class GO2Cfg(LeggedRobotCfg):
foot_name = "foot"
penalize_contacts_on = ["thigh", "calf"]
terminate_after_contacts_on = ["base"]
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
class rewards(LeggedRobotCfg.rewards):
soft_dof_pos_limit = 0.9

4
legged_gym/envs/go2/go2_config_fast_flat_move.py
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@@ -146,7 +146,7 @@ class GO2Cfg(LeggedRobotCfg):
'heading': [-1.57, 1.57], # min max [rad]
}, { # list for command range curriculums at specific training iterations
'iter': 40000, # training iteration at which the command ranges are updated
'lin_vel_x': [-2.0, 4.2], # min max [m/s]
'lin_vel_x': [-2.0, 4.5], # min max [m/s]
'lin_vel_y': [-0.5, 0.5], # min max [m/s]
'ang_vel_yaw': [-1.0, 1.0], # min max [rad/s]
'heading': [-1.57, 1.57], # min max [rad]
@@ -181,7 +181,7 @@ class GO2Cfg(LeggedRobotCfg):
foot_name = "foot"
penalize_contacts_on = ["thigh", "calf"]
terminate_after_contacts_on = ["base"]
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
class rewards(LeggedRobotCfg.rewards):
soft_dof_pos_limit = 0.9

2
legged_gym/envs/go2/go2_config_vanilla.py
View File

@@ -165,7 +165,7 @@ class GO2Cfg(LeggedRobotCfg):
foot_name = "foot"
penalize_contacts_on = ["thigh", "calf"]
terminate_after_contacts_on = ["base"]
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
class rewards(LeggedRobotCfg.rewards):
soft_dof_pos_limit = 0.9

2
legged_gym/envs/go2/go2_config_vanilla_with_dynamic_cmd.py
View File

@@ -165,7 +165,7 @@ class GO2Cfg(LeggedRobotCfg):
foot_name = "foot"
penalize_contacts_on = ["thigh", "calf"]
terminate_after_contacts_on = ["base"]
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
class rewards(LeggedRobotCfg.rewards):
soft_dof_pos_limit = 0.9