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align hip_pos_penalty reward with isaacgym (switch to hip_pos_penalty_l1).

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This commit is contained in:
wertyuilife
2026-03-30 19:18:31 +08:00
parent 3b5e47ec16
commit 0b3cd3ab2f
2 changed files with 4 additions and 4 deletions
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4
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
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@@ -431,8 +431,8 @@ class RewardsCfg:
weight=-1.0, weight=-1.0,
params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_thigh|.*_calf"), "threshold": 5.0}, params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_thigh|.*_calf"), "threshold": 5.0},
) )
hip_pos_penalty = RewTerm( hip_pos_penalty_l1 = RewTerm(
func=mdp.hip_pos_penalty, func=mdp.hip_pos_penalty_l1,
weight=-0.05, weight=-0.05,
params={ params={
"command_name": "base_velocity", "command_name": "base_velocity",

4
source/robot_lab/robot_lab/tasks/go2/mdp/rewards.py
View File

@@ -534,7 +534,7 @@ def flat_orientation_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = Scen
return reward return reward
def hip_pos_penalty( def hip_pos_penalty_l1(
env: ManagerBasedRLEnv, env: ManagerBasedRLEnv,
command_name: str, command_name: str,
asset_cfg: SceneEntityCfg, asset_cfg: SceneEntityCfg,
@@ -547,7 +547,7 @@ def hip_pos_penalty(
command = env.command_manager.get_command(command_name)[:, [1, 2]] command = env.command_manager.get_command(command_name)[:, [1, 2]]
cmd_large = torch.any(torch.abs(command) > command_threshold, dim=1) cmd_large = torch.any(torch.abs(command) > command_threshold, dim=1)
running_reward = torch.linalg.norm( running_reward = torch.linalg.norm(
(asset.data.joint_pos[:, asset_cfg.joint_ids] - asset.data.default_joint_pos[:, asset_cfg.joint_ids]), dim=1 (asset.data.joint_pos[:, asset_cfg.joint_ids] - asset.data.default_joint_pos[:, asset_cfg.joint_ids]), dim=1, ord=1
) )
reward = torch.where( reward = torch.where(
cmd_large, cmd_large,