From 9cfb6dc44a64d12bc0ed85c52de8948ff9d527a2 Mon Sep 17 00:00:00 2001 From: wertyuilife Date: Wed, 8 Apr 2026 14:49:43 +0800 Subject: [PATCH] refactor height target usage in rewards config. --- source/robot_lab/robot_lab/tasks/go2/env_cfg.py | 13 +++---------- 1 file changed, 3 insertions(+), 10 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 81002c8..ef5d1ab 100644 --- a/source/robot_lab/robot_lab/tasks/go2/env_cfg.py +++ b/source/robot_lab/robot_lab/tasks/go2/env_cfg.py @@ -29,7 +29,7 @@ JOINT_NAMES = [ BASE_LINK_NAME = "base" FOOT_LINK_NAME = ".*_foot" - +BASE_HEIGHT_TARGET = 0.38 # base height target for rewards, set as an attribute of the env config. ## # Terrain definition @@ -433,7 +433,7 @@ class RewardsCfg: weight=-1.0, params={ "asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME), - "target_height": 0.38, + "target_height": BASE_HEIGHT_TARGET, "sensor_cfg": SceneEntityCfg("height_scanner_small"), } ) @@ -453,7 +453,7 @@ class RewardsCfg: func=mdp.feet_regulation, weight=-0.05, params={ - "base_height_target": 0.38, + "base_height_target": BASE_HEIGHT_TARGET, "asset_cfg": SceneEntityCfg("robot", body_names=FOOT_LINK_NAME), "sensor_cfg": SceneEntityCfg("height_scanner_small"), }, @@ -491,13 +491,6 @@ class CurriculumCfg: base_height_l2 = CurrTerm(mdp.gradual_reward_weight_modification, params={ "term_name": "base_height_l2", "initial_weight": -1.0, "final_weight": -10.0, "start_it": 0, "end_it": 5000 }) - # ref_stand_envs = CurrTerm(mdp.gradual_ref_stand_modification, params={ - # "term_name": "base_velocity", "initial": 0.0, "final": 0.1, "start_it": 0, "end_it": 1500 - # }) - # command_curr = CurrTerm(mdp.command_curriculum, params={ - # "command_term_name": "base_velocity", "num_steps_per_iter": 24, - # }) - ## # Environment configuration