wertyuilife
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2462c854f7
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use official unitree motor as default; disable randomized action delay env; update readme.
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2026-05-11 12:26:39 +08:00 |
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wty-yy
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928d0fb856
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Update ONNX export
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2026-05-11 09:37:43 +08:00 |
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wertyuilife
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84b7c1e3bd
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change joint_pos_penalty_l1's weight to -0.01 due to better performance; add default actuator-level action delay in GO2_CFG_UNITREE.
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2026-05-05 00:35:22 +08:00 |
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wertyuilife
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0cdd3b9ac1
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Align Go2 terrain generation with gym
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2026-04-30 20:47:05 +08:00 |
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wertyuilife
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b5d03f6b30
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switch back to average friction combine mode; remove domain rand: randomize_com_positions_other.
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2026-04-30 17:47:05 +08:00 |
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wertyuilife
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8ef6d36e67
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fix: set log_dir to None for OnPolicyRunnerCTS init.
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2026-04-29 11:09:39 +08:00 |
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wertyuilife
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c9cd1d757a
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add commit ID to git diff output in logger and logger_cts.
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2026-04-28 15:27:25 +08:00 |
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wertyuilife
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411236eb3c
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replace joint_pos_limits reward with isaaclabs'; clean code; update readme.
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2026-04-28 14:10:04 +08:00 |
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wertyuilife
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41241914a3
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switch to multiply friction combine mode; add domain rand: randomize_com_positions_other.
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2026-04-27 15:36:05 +08:00 |
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wertyuilife
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ed50f647ac
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fix terrains, change slope_threshold in every subterrain for correct terrain generation.
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2026-04-24 00:21:07 +08:00 |
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wertyuilife
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52b14b0c3f
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update readme: fix installation guide, add difference from go2_rl_gym; rename terrains.py.
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2026-04-20 21:35:41 +08:00 |
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wertyuilife
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34ba7465a9
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add joint_pos_penalty_l1 for better performance.
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2026-04-20 14:59:34 +08:00 |
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wertyuilife
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ee962954cb
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update readme.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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a401337bb2
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align terrain settings to go2_rl_gym.
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2026-04-17 22:00:42 +08:00 |
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wty-yy
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f011fcc9e5
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Add robogauge usage in README
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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b76245dc55
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refactor terrain config for clarity.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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fd3650b6da
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lower dof_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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d0224eb62f
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align terrain settings with go2_rl_gym.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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4b0a3df61d
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delete randomize_com_positions_other, align friction settings with gym.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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3a3e8f95fa
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update scripts, preload h5py to fix windows bug when using GUI.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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81fea30614
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update installation guide in readme.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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e382e0170a
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update scripts, preload tensordict's native extension to prevent Windows access violation during RSL-RL imports.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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93fa055f79
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add env without action delay (up to test actuator level action delay).
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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09f5abb18a
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add randomize_motor_zero_offset to align with go2_rl_gym.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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4174c7ffcd
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add go2 articulation cfg from unitree_rl_lab; align domain rand with go2_rl_gym.
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2026-04-17 22:00:42 +08:00 |
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wertyuilife
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3a68a35be7
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replace commands.py with commands_go2_rl_gym.py.
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2026-04-17 22:00:42 +08:00 |
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wty-yy
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1ca3f196a7
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Add robogauge eval; update single obs export jit
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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4fe5d5f953
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update readme; update deploy config.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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c483f784ca
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update height_scanner_small to 0.4*0.3m
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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9cfb6dc44a
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refactor height target usage in rewards config.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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8a4959bb4c
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refactor height estimation logic.
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2026-04-17 21:58:53 +08:00 |
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wty-yy
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c18ccc557e
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fix fix_commands bug in play.py
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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e62895a9a0
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Align feet_regulation reward; adjust the dof_acc_l2 reward weight; remove the flat_orientation reward; add a new height_scanner_small sensor for feet_regulation.
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2026-04-17 21:58:53 +08:00 |
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wty-yy
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bd398b14ba
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Fix terrain type bugs
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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71f69f3dde
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change default training max_iteration.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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f2fcb966b9
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update readme.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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f6ec5b68cc
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refactor deploy scripts.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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fea45ce4bd
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fix bugs in actions; update readme.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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89dce4524c
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remove all reward “projected_gravity_b scale” to align with go2_rl_gym.
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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0b3cd3ab2f
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align hip_pos_penalty reward with isaacgym (switch to hip_pos_penalty_l1).
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2026-04-17 21:58:53 +08:00 |
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wertyuilife
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3b5e47ec16
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update deploy script to display current command.
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2026-04-17 21:58:53 +08:00 |
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wty-yy
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f7e107057a
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Add fix command, fix video save in play.py
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2026-04-06 15:24:35 +08:00 |
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wty-yy
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71b1f50370
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v0.1; add commands_go2_rl_gym
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2026-04-01 21:23:00 +08:00 |
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wertyuilife
|
257e69f793
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update readme.
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2026-03-26 21:12:27 +08:00 |
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wertyuilife
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6722a01ee3
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enable self collisions; update readme; refactor script dir.
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2026-03-26 18:04:42 +08:00 |
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wertyuilife
|
40c0112104
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update terrain.
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2026-03-26 13:39:08 +08:00 |
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wertyuilife
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7b7a902c2c
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delete unused data folder.
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2026-03-25 21:17:33 +08:00 |
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wertyuilife
|
b2e779111b
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update readme; rename config dir;
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2026-03-25 20:01:34 +08:00 |
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wertyuilife
|
d6a9c5949a
|
support MuJoCo sim2sim;
refactor resource files structure;
update readme;
|
2026-03-25 17:39:51 +08:00 |
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wertyuilife
|
d946c689da
|
aligned to go2_rl_gym.
|
2026-03-25 14:40:03 +08:00 |
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