v0.1.8; add configs, fix bugs

legged_gym/envs/go2/go2_config_vanilla.py

@@ -1,4 +1,15 @@
-# Don't forget to change IS_HARD = False, if you want to use original training setting
+# -*- coding: utf-8 -*-
+'''
+@File    : go2_config_vanilla.py
+@Time    : 2026/01/10 02:26:04
+@Author  : wty-yy
+@Version : 1.0
+@Blog    : https://wty-yy.github.io/
+@Desc    : Go2 vanilla training config
+episode length 25, resample commands 5 sec,
+open move_down_by_accumulated_xy_command, dynamic_resample_commands
+close heading_command, zero_command_curriculum, limit_vel_prob, command_range_curriculum, dynamic_sigma
+'''
 import math
 from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO, LeggedRobotCfgCTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMoECTS, LeggedRobotCfgMCPCTS, LeggedRobotCfgACMoECTS, LeggedRobotCfgDualMoECTS, LeggedRobotCfgREMCTS
 
@@ -94,7 +105,7 @@ 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_accumulated_xy_command = False # 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
@@ -110,7 +121,7 @@ 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 = False # sample commands with low bounds
+        dynamic_resample_commands = True # sample commands with low bounds
         command_range_curriculum = []
         # command_range_curriculum = [{ # list for command range curriculums at specific training iterations
         #     'iter': 20000, # training iteration at which the command ranges are updated