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v0.1.7; fix prob of not adjusting resample cmd based on the terrains

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wty-yy
2026-01-08 12:44:17 +08:00
parent 6f477bf42d
commit 47755ce06c
7 changed files with 41 additions and 14 deletions
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legged_gym/envs/go2/go2_config.py
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@@ -93,7 +93,7 @@ class GO2Cfg(LeggedRobotCfg):
# terrain_proportions = [0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0]
# terrain_proportions = [0.3, 0.3, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]
# terrain_proportions = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
move_down_by_acuumulated_xy_command = True # move down the terrain curriculum based on accumulated xy command distance instead of absolute distance
move_down_by_accumulated_xy_command = True # move down the terrain curriculum based on accumulated xy command distance instead of absolute distance
class commands(LeggedRobotCfg.commands):
curriculum = False