From 4b0a3df61dbdd847934d9ec7b07fad3ef6eef4b1 Mon Sep 17 00:00:00 2001 From: wertyuilife Date: Sat, 11 Apr 2026 23:08:57 +0800 Subject: [PATCH] delete randomize_com_positions_other, align friction settings with gym. --- source/robot_lab/robot_lab/tasks/go2/env_cfg.py | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) diff --git a/source/robot_lab/robot_lab/tasks/go2/env_cfg.py b/source/robot_lab/robot_lab/tasks/go2/env_cfg.py index b5bcc90..3ed2a4f 100644 --- a/source/robot_lab/robot_lab/tasks/go2/env_cfg.py +++ b/source/robot_lab/robot_lab/tasks/go2/env_cfg.py @@ -93,9 +93,11 @@ class Go2SceneCfg(InteractiveSceneCfg): max_init_terrain_level=5, collision_group=-1, physics_material=sim_utils.RigidBodyMaterialCfg( - friction_combine_mode="multiply", + friction_combine_mode="average", + restitution_combine_mode="average", static_friction=1.0, dynamic_friction=1.0, + restitution=0.0, ), visual_material=sim_utils.MdlFileCfg( mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl", @@ -319,14 +321,6 @@ class EventCfg: "com_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "z": (-0.03, 0.03)}, }, ) - randomize_com_positions_other = EventTerm( - func=mdp.randomize_rigid_body_com, - mode="startup", - params={ - "asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*base).*"), - "com_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "z": (-0.03, 0.03)}, - }, - ) reset_robot_joints = EventTerm( func=mdp.reset_joints_by_scale, mode="reset", @@ -373,8 +367,8 @@ class EventCfg: mode="startup", params={ "asset_cfg": SceneEntityCfg("robot", body_names=".*"), - "static_friction_range": (0.5, 1.5), - "dynamic_friction_range": (0.5, 1.5), + "static_friction_range": (0.0, 2.0), + "dynamic_friction_range": (0.0, 2.0), "restitution_range": (0.0, 0.5), "num_buckets": 64, "make_consistent": True