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delete randomize_com_positions_other, align friction settings with gym.

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wertyuilife
2026-04-11 23:08:57 +08:00
parent 3a3e8f95fa
commit 4b0a3df61d
1 changed files with 5 additions and 11 deletions
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16
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
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@@ -93,9 +93,11 @@ class Go2SceneCfg(InteractiveSceneCfg):
max_init_terrain_level=5, max_init_terrain_level=5,
collision_group=-1, collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg( physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="multiply", friction_combine_mode="average",
restitution_combine_mode="average",
static_friction=1.0, static_friction=1.0,
dynamic_friction=1.0, dynamic_friction=1.0,
restitution=0.0,
), ),
visual_material=sim_utils.MdlFileCfg( visual_material=sim_utils.MdlFileCfg(
mdl_path=f"{ISAACLAB_NUCLEUS_DIR}/Materials/TilesMarbleSpiderWhiteBrickBondHoned/TilesMarbleSpiderWhiteBrickBondHoned.mdl", 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)}, "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( reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_scale, func=mdp.reset_joints_by_scale,
mode="reset", mode="reset",
@@ -373,8 +367,8 @@ class EventCfg:
mode="startup", mode="startup",
params={ params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"), "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.5, 1.5), "static_friction_range": (0.0, 2.0),
"dynamic_friction_range": (0.5, 1.5), "dynamic_friction_range": (0.0, 2.0),
"restitution_range": (0.0, 0.5), "restitution_range": (0.0, 0.5),
"num_buckets": 64, "num_buckets": 64,
"make_consistent": True "make_consistent": True