cyy/go2_rl_gym
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

v1.0.2; change high speed move, remove useless comments

Browse Source
This commit is contained in:
wty-yy
2026-01-26 16:22:01 +08:00
parent 164014325a
commit 2aed91e7ce
11 changed files with 106 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
legged_gym/envs/base/legged_robot.py
View File

@@ -1417,13 +1417,6 @@ class LeggedRobot(BaseTask):
# Penalize joint poses far away from default pose
return torch.sum(torch.abs(self.dof_pos - self.default_dof_pos), dim=1)
def _reward_hip_to_default(self):
hip_dof_names = ['FL_hip_joint', 'FR_hip_joint', 'RL_hip_joint', 'RR_hip_joint']
hip_dof_indices = [0, 3, 6, 9]
hip_pos = self.dof_pos[:, hip_dof_indices]
default_hip_pos = self.default_dof_pos[:, hip_dof_indices]
return torch.sum(torch.abs(hip_pos - default_hip_pos), dim=1)
def _reward_upright(self):
return (-1 - self.projected_gravity[:, 2]) / 2