cyy/go2_rl_robotlab
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enable self collisions; update readme; refactor script dir.

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wertyuilife
2026-03-26 18:04:42 +08:00
parent 40c0112104
commit 6722a01ee3
6 changed files with 5 additions and 1 deletions
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README.md
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@@ -102,6 +102,10 @@ xml_path: "{ROOT_DIR}/resource/go2/your-custom-scene.xml"
- Terrain's composition are different(see code). - Terrain's composition are different(see code).
- tracking reward are different (fixed sigma vs. dynamic sigma). - tracking reward are different (fixed sigma vs. dynamic sigma).
## ToDo
- Try using DelayedPDActuatorCfg to replace ActionManager-Level action delay implementation.
## Acknowledgements ## Acknowledgements
This repository would not exist without the following open-source projects: This repository would not exist without the following open-source projects:

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scripts/reinforcement_learning/rsl_rl/cli_args.py → scripts/rsl_rl/cli_args.py
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scripts/reinforcement_learning/rsl_rl/play.py → scripts/rsl_rl/play.py
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scripts/reinforcement_learning/rsl_rl/train.py → scripts/rsl_rl/train.py
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scripts/reinforcement_learning/rsl_rl/utils.py → scripts/rsl_rl/utils.py
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source/robot_lab/robot_lab/assets/unitree.py
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@@ -32,7 +32,7 @@ UNITREE_GO2_CFG = ArticulationCfg(
max_depenetration_velocity=1.0, max_depenetration_velocity=1.0,
), ),
articulation_props=sim_utils.ArticulationRootPropertiesCfg( articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False, enabled_self_collisions=True,
solver_position_iteration_count=4, solver_position_iteration_count=4,
solver_velocity_iteration_count=0, solver_velocity_iteration_count=0,
), ),