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refactor height target usage in rewards config.

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wertyuilife
2026-04-08 14:49:43 +08:00
parent 8a4959bb4c
commit 9cfb6dc44a
1 changed files with 3 additions and 10 deletions
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13
source/robot_lab/robot_lab/tasks/go2/env_cfg.py
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@@ -29,7 +29,7 @@ JOINT_NAMES = [
BASE_LINK_NAME = "base" BASE_LINK_NAME = "base"
FOOT_LINK_NAME = ".*_foot" FOOT_LINK_NAME = ".*_foot"
BASE_HEIGHT_TARGET = 0.38 # base height target for rewards, set as an attribute of the env config.
## ##
# Terrain definition # Terrain definition
@@ -433,7 +433,7 @@ class RewardsCfg:
weight=-1.0, weight=-1.0,
params={ params={
"asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME), "asset_cfg": SceneEntityCfg("robot", body_names=BASE_LINK_NAME),
"target_height": 0.38, "target_height": BASE_HEIGHT_TARGET,
"sensor_cfg": SceneEntityCfg("height_scanner_small"), "sensor_cfg": SceneEntityCfg("height_scanner_small"),
} }
) )
@@ -453,7 +453,7 @@ class RewardsCfg:
func=mdp.feet_regulation, func=mdp.feet_regulation,
weight=-0.05, weight=-0.05,
params={ params={
"base_height_target": 0.38, "base_height_target": BASE_HEIGHT_TARGET,
"asset_cfg": SceneEntityCfg("robot", body_names=FOOT_LINK_NAME), "asset_cfg": SceneEntityCfg("robot", body_names=FOOT_LINK_NAME),
"sensor_cfg": SceneEntityCfg("height_scanner_small"), "sensor_cfg": SceneEntityCfg("height_scanner_small"),
}, },
@@ -491,13 +491,6 @@ class CurriculumCfg:
base_height_l2 = CurrTerm(mdp.gradual_reward_weight_modification, params={ 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 "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 # Environment configuration