cyy/go2_rl_gym
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Remove useless code

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This commit is contained in:
wty-yy
2026-04-07 11:06:02 +08:00
parent 090fcc093a
commit 7558467aca
13 changed files with 170 additions and 106 deletions
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4
legged_gym/envs/go2/go2_config.py
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@@ -96,8 +96,6 @@ class GO2Cfg(LeggedRobotCfg):
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
max_curriculum = 1.
num_commands = 4 # default: lin_vel_x, lin_vel_y, ang_vel_yaw (in heading mode ang_vel_yaw is recomputed from heading error)
resampling_time = 5. # time before command are changed[s]
heading_command = False # if true: compute ang vel command from heading error
@@ -151,7 +149,7 @@ 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
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@@ -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