Remove useless code

2026-04-07 11:06:02 +08:00
parent 090fcc093a
commit 7558467aca
13 changed files with 170 additions and 106 deletions
--- a/legged_gym/envs/go2/go2_config_vanilla.py
+++ b/legged_gym/envs/go2/go2_config_vanilla.py
@@ -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