enable self collisions; update readme; refactor script dir.

2026-03-26 18:04:42 +08:00
parent 40c0112104
commit 6722a01ee3
6 changed files with 5 additions and 1 deletions
--- a/source/robot_lab/robot_lab/assets/unitree.py
+++ b/source/robot_lab/robot_lab/assets/unitree.py
@@ -32,7 +32,7 @@ UNITREE_GO2_CFG = ArticulationCfg(
            max_depenetration_velocity=1.0,
        ),
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            enabled_self_collisions=False,
+            enabled_self_collisions=True,
            solver_position_iteration_count=4,
            solver_velocity_iteration_count=0,
        ),