fix link and generate

source/robot_lab/robot_lab/tasks/go1/env_cfg.py

@@ -27,7 +27,7 @@ JOINT_NAMES = [
     "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint",
 ]
 
-BASE_LINK_NAME = "trunk"
+BASE_LINK_NAME = "base"
 FOOT_LINK_NAME = ".*_foot"
 BASE_HEIGHT_TARGET = 0.30  # Go1 nominal trunk height used by the original Gym task.
 
@@ -63,7 +63,7 @@ class Go1SceneCfg(InteractiveSceneCfg):
     robot: ArticulationCfg = GO1_CFG_UNITREE.replace(prim_path="{ENV_REGEX_NS}/Robot")
 
     height_scanner = RayCasterCfg(
-        prim_path="{ENV_REGEX_NS}/Robot/trunk",
+        prim_path="{ENV_REGEX_NS}/Robot/base",
         offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
         ray_alignment="yaw",
         pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),
@@ -71,7 +71,7 @@ class Go1SceneCfg(InteractiveSceneCfg):
         mesh_prim_paths=["/World/ground"],
     )
     height_scanner_small = RayCasterCfg(
-        prim_path="{ENV_REGEX_NS}/Robot/trunk",
+        prim_path="{ENV_REGEX_NS}/Robot/base",
         offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
         ray_alignment="yaw",
         pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=[0.4, 0.3]),
@@ -260,7 +260,7 @@ class EventCfg:
         func=mdp.randomize_rigid_body_mass,
         mode="startup",
         params={
-            "asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*trunk).*"),
+            "asset_cfg": SceneEntityCfg("robot", body_names="^(?!.*base).*"),
             "mass_distribution_params": (0.9, 1.1),
             "operation": "scale",
             "recompute_inertia": True,
@@ -466,7 +466,7 @@ class Go1EnvCfg(ManagerBasedRLEnvCfg):
     """Merged configuration for the Go1 robot on rough terrain."""
 
     # Scene settings
-    scene: Go1SceneCfg = Go1SceneCfg(num_envs=16384, env_spacing=0.5)
+    scene: Go1SceneCfg = Go1SceneCfg(num_envs=4096, env_spacing=0.5)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()
@@ -489,7 +489,7 @@ class Go1EnvCfg(ManagerBasedRLEnvCfg):
         # Physics material settings from subclass
         self.sim.physics_material = self.scene.terrain.physics_material
         self.sim.physx.gpu_max_rigid_patch_count = int(1 * 1024 * 1024)  # 1 million
-        self.sim.physx.gpu_collision_stack_size = int(512 * 1024 * 1024)  # 128 MB
+        self.sim.physx.gpu_collision_stack_size = int(128 * 1024 * 1024)  # 128 MB
         self.sim.physx.enable_external_forces_every_iteration = True
 
         # Update sensor periods