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replace joint_pos_limits reward with isaaclabs'; clean code; update readme.

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wertyuilife
2026-04-28 14:10:04 +08:00
parent 41241914a3
commit 411236eb3c
5 changed files with 20 additions and 38 deletions
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3
README.md
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@@ -182,9 +182,10 @@ xml_path: "{ROOT_DIR}/resources/go2/your-custom-scene.xml"
- Different tracking reward formulation (fixed sigma vs. dynamic sigma)
- Different rewards:
- lower dof_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers
- lower joint_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers
- extra joint_pos_penalty_l1 reward in Lab due to better performance
- Lack domain_rand: randomize_motor_strength
- Extra domain_rand: randomize_com_positions_other (lead to better performance)
---

6
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
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@@ -403,10 +403,10 @@ class RewardsCfg:
weight=-1.0,
params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*_thigh|.*_calf"), "threshold": 5.0},
)
dof_pos_limits = RewTerm(
func=mdp.dof_pos_limits,
joint_pos_limits = RewTerm(
func=mdp.joint_pos_limits,
weight=-2.0,
params={"asset_cfg": SceneEntityCfg("robot")},
params={"asset_cfg": SceneEntityCfg("robot", joint_names=JOINT_NAMES)},
)
feet_regulation = RewTerm(
func=mdp.feet_regulation,

30
source/robot_lab/robot_lab/tasks/go2/mdp/commands.py
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@@ -373,23 +373,8 @@ class Go2RLGymCommandCfg(CommandTermCfg):
'ang_vel_yaw': [-2.0, 2.0], # min max [rad/s]
}]
"""List for command range curriculums at specific training iterations"""
# terrain_max_command_ranges: dict[str, dict] = {
# 'random_rough':
# {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
# 'hf_pyramid_slope':
# {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
# 'hf_pyramid_slope_inv':
# {'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
# 'pyramid_stairs':
# {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
# 'pyramid_stairs_inv':
# {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
# 'boxes':
# {'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
# 'flat':
# {'lin_vel_x': [-2.0, 2.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-2.0, 2.0]},
# }
terrain_max_command_ranges: dict[str, dict] = {
#### go2 terrains ####
'wave':
{'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'slope_up':
@@ -410,6 +395,19 @@ class Go2RLGymCommandCfg(CommandTermCfg):
{'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'flat':
{'lin_vel_x': [-2.0, 2.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-2.0, 2.0]},
#### robotlab default terrains ####
'random_rough':
{'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'hf_pyramid_slope':
{'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'hf_pyramid_slope_inv':
{'lin_vel_x': [-1.5, 1.5], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'pyramid_stairs':
{'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'pyramid_stairs_inv':
{'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
'boxes':
{'lin_vel_x': [-1.0, 1.0], 'lin_vel_y': [-1.0, 1.0], 'ang_vel_yaw': [-1.5, 1.5]},
}
resampling_time: float = 5.0
resampling_time_range: tuple[float, float] = (5.0, 5.0)

17
source/robot_lab/robot_lab/tasks/go2/mdp/rewards.py
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@@ -605,20 +605,3 @@ def feet_regulation(
reward = (feet_xy_vel_w.pow(2).sum(dim=-1) * torch.exp(-feet_height / (0.025 * base_height_target))).sum(dim=-1)
return reward
def dof_pos_limits(
env: ManagerBasedRLEnv,
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
) -> torch.Tensor:
asset = env.scene[asset_cfg.name]
joint_pos = asset.data.joint_pos
joint_limits = asset.data.soft_joint_pos_limits
lower = joint_limits[..., 0]
upper = joint_limits[..., 1]
out_of_limits = -(joint_pos - lower).clamp(max=0.0)
out_of_limits += (joint_pos - upper).clamp(min=0.0)
return torch.sum(out_of_limits, dim=1)

2
source/robot_lab/robot_lab/tasks/go2/mdp/terrains.py
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@@ -92,7 +92,7 @@ DEFAULT_TERRAIN_CFG = terrain_gen.TerrainGeneratorCfg(
# -----------------------------------------------------------------------------
# Gym-aligned terrain setup
# Go2 Terrain setup
# -----------------------------------------------------------------------------
@height_field_to_mesh
def wave_terrain(difficulty: float, cfg) -> np.ndarray: