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

v0.1.6; add move_down_by_acuumulated_xy_command, dynamic_resample_commands optional

Browse Source
This commit is contained in:
wty-yy
2026-01-07 23:17:43 +08:00
parent 41295f7e72
commit 6f477bf42d
5 changed files with 367 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
legged_gym/envs/go2/go2_config.py
View File

@@ -93,6 +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
class commands(LeggedRobotCfg.commands):
curriculum = False
@@ -107,6 +108,7 @@ class GO2Cfg(LeggedRobotCfg):
limit_vel_invert_when_continuous = True # invert the limit logic when using continuous sample limit velocity commands
limit_vel = {"lin_vel_x": [-1, 1], "lin_vel_y": [-1, 1], "ang_vel_yaw": [-1, 0, 1]} # sample vel commands from min [-1] or zero [0] or max [1] range only
stop_heading_at_limit = True # stop heading updates when vel is limited
dynamic_resample_commands = True # sample commands with low bounds
command_range_curriculum = [{ # list for command range curriculums at specific training iterations
'iter': 20000, # training iteration at which the command ranges are updated
'lin_vel_x': [-1.0, 1.0], # min max [m/s]