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v1.0.4; slope_thre: 0.7->2.0

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wty-yy
2026-04-23 15:09:29 +08:00
parent 8e2ae7e5a2
commit 93c5c22b57
6 changed files with 8 additions and 4 deletions
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2
legged_gym/envs/base/legged_robot_config.py
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@@ -37,7 +37,7 @@ class LeggedRobotCfg(BaseConfig):
# [wave, slope, rough slope, stairs up, stairs down, obstacles, stepping stones, gap, flat]
terrain_proportions = [0.1, 0.1, 0.1, 0.2, 0.2, 0.1, 0.1, 0.1, 0.0]
# trimesh only:
slope_treshold = 0.75 # slopes above this threshold will be corrected to vertical surfaces
slope_threshold = 0.75 # slopes above this threshold will be corrected to vertical surfaces
move_down_by_accumulated_xy_command = False # move down the terrain curriculum based on accumulated xy command distance instead of absolute distance
class commands:

1
legged_gym/envs/go2/go2_config.py
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@@ -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]
slope_threshold = 1.5 # higher value means more steep slopes, for better wave and rough slope generation
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):