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use official unitree motor as default; disable randomized action delay env; update readme.

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This commit is contained in:
wertyuilife
2026-05-11 12:26:39 +08:00
parent 928d0fb856
commit 2462c854f7
3 changed files with 10 additions and 12 deletions
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4
source/robot_lab/robot_lab/tasks/go2/__init__.py
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@@ -19,8 +19,8 @@ from isaaclab_tasks.utils import import_packages
##
gym.register(
id="RobotLab-Go2-v0",
# entry_point="robot_lab.tasks.go2.env.go2_env:Go2Env",
entry_point="robot_lab.tasks.go2.env.go2_env:ActionDelayGo2Env",
entry_point="robot_lab.tasks.go2.env.go2_env:Go2Env",
# entry_point="robot_lab.tasks.go2.env.go2_env:ActionDelayGo2Env", # using motor-level delay, so disabled env-level delay
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": f"{__name__}.env_cfg:Go2EnvCfg",

2
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
View File

@@ -60,7 +60,7 @@ class Go2SceneCfg(InteractiveSceneCfg):
debug_vis=False
)
robot: ArticulationCfg = GO2_CFG_ROBOTLAB.replace(prim_path="{ENV_REGEX_NS}/Robot")
robot: ArticulationCfg = GO2_CFG_UNITREE.replace(prim_path="{ENV_REGEX_NS}/Robot")
height_scanner = RayCasterCfg(
prim_path="{ENV_REGEX_NS}/Robot/base",