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

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wty-yy
2026-01-26 16:22:01 +08:00
parent 164014325a
commit 2aed91e7ce
11 changed files with 106 additions and 203 deletions
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49
legged_gym/envs/go2/go2_config.py
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@@ -176,32 +176,6 @@ class GO2Cfg(LeggedRobotCfg):
}
min_legs_distance = 0.1 # min distance between legs to not be considered stumbling
class scales:
# tracking_lin_vel = 1.0
# tracking_ang_vel = 0.2
# lin_vel_z = -10.0
# base_height = -50.0
# action_rate = -0.005
# similar_to_default = -0.1
# dof_power = -1e-3 # 能够明显抑制跳跃
# dof_acc = -3e-7
# tracking_lin_vel = 1.0
# tracking_ang_vel = 0.5
# lin_vel_z = -2.0
# ang_vel_xy = -0.05
# dof_acc = -2.5e-7
# dof_power = -1e-3 # 能够明显抑制跳跃
# # torques = -1e-4 # 无用会走着走着倒了
# correct_base_height = -10.0
# action_rate = -0.01
# action_smoothness = -0.01
# collision = -1.0
# dof_pos_limits = -2.0
# feet_regulation = -0.05
# hip_to_default = -0.1
# similar_to_default = -0.05
# CTS reward
tracking_lin_vel = 1.0
tracking_ang_vel = 0.5
lin_vel_z = -2.0
@@ -215,11 +189,12 @@ class GO2Cfg(LeggedRobotCfg):
collision = -1.0
dof_pos_limits = -2.0
feet_regulation = -0.05
# CTS奖励训出来双脚距离非常近, 真机效果很差, 但是sim2sim能上20cm楼梯, 尝试加入hip_to_default奖励或similar_to_default奖励
hip_to_default = -0.05 # 在训练到y=1.5时, 双脚会明显碰撞, 为避免该问题提升hip, 效果更差, 还是保持0.05 (y最大也只到0.1了)
# legs_distance = -1.5 # 奖励双脚距离, 避免CTS训练出来双脚距离过近, 尝试加入后robogauge flat验证效果变差, 删除
# CTS reward trains to have very close feet distance, real robot performance is poor, but sim2sim can climb 20cm stairs, try to add hip_to_default reward or similar_to_default reward
# training to y=1.5, font feet will collide noticeably, max y=1.0
hip_to_default = -0.05
# legs_distance = -1.5 # not good performance, avoid leg collision
# similar_to_default = -0.01
# feet_contact_forces = -1.0 # 尝试加入但并没有起到任何效果, 删除
# feet_contact_forces = -1.0 # try to add but no effect, remove
turn_over_roll_threshold = math.pi / 4 # threshold on roll to use turn over rewards
class turn_over_scales:
@@ -238,7 +213,7 @@ class GO2CfgPPO(LeggedRobotCfgPPO):
class runner(LeggedRobotCfgPPO.runner):
run_name = ''
experiment_name = 'go2_ppo'
max_iterations = 120000
max_iterations = 150000
save_interval = 500
class GO2CfgCTS(LeggedRobotCfgCTS):
@@ -246,7 +221,7 @@ class GO2CfgCTS(LeggedRobotCfgCTS):
num_steps_per_env = 24
run_name = ''
experiment_name = 'go2_cts'
max_iterations = 120000
max_iterations = 150000
save_interval = 500
class policy(LeggedRobotCfgCTS.policy):
@@ -264,7 +239,7 @@ class GO2CfgMoECTS(LeggedRobotCfgMoECTS):
class runner(LeggedRobotCfgMoECTS.runner):
run_name = ''
experiment_name = 'go2_moe_cts'
max_iterations = 120000
max_iterations = 150000
save_interval = 500
class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS):
@@ -275,7 +250,7 @@ class GO2CfgMCPCTS(LeggedRobotCfgMCPCTS):
class runner(LeggedRobotCfgMCPCTS.runner):
run_name = ''
experiment_name = 'go2_mcp_cts'
max_iterations = 120000
max_iterations = 150000
save_interval = 500
class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS):
@@ -285,7 +260,7 @@ class GO2CfgACMoECTS(LeggedRobotCfgACMoECTS):
class runner(LeggedRobotCfgACMoECTS.runner):
run_name = ''
experiment_name = 'go2_ac_moe_cts'
max_iterations = 120000
max_iterations = 150000
save_interval = 500
class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS):
@@ -295,7 +270,7 @@ class GO2CfgDualMoECTS(LeggedRobotCfgDualMoECTS):
class runner(LeggedRobotCfgDualMoECTS.runner):
run_name = ''
experiment_name = 'go2_dual_moe_cts'
max_iterations = 120000
max_iterations = 150000
save_interval = 500
class GO2CfgREMCTS(LeggedRobotCfgREMCTS):
@@ -305,5 +280,5 @@ class GO2CfgREMCTS(LeggedRobotCfgREMCTS):
class runner(LeggedRobotCfgREMCTS.runner):
run_name = ''
experiment_name = 'go2_rem_cts'
max_iterations = 120000
max_iterations = 150000
save_interval = 500