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f40874bc90
fix link and generate
2026-07-31 13:45:20 +08:00
0d2afbf2bb
feat: add Go1 training and MuJoCo deployment
2026-07-26 00:40:06 +08:00
28b4516d22
update better default training settings; update new policy and results; update readme.
2026-06-29 03:08:09 +08:00
f08058fcb8
update readme.
2026-06-22 17:31:50 +08:00
7f13461612
update history length to 10; update readme; add demo resources; update policy files and deploy config.
2026-06-12 05:20:29 +08:00
f78f791275
update environment type in Go2RLGymCommand; enable debug vis on play; update gitignore.
2026-06-10 14:25:29 +08:00
c7a80005c1
fix: reset limited command state
2026-06-10 11:59:42 +08:00
b3e8033659
update readme.
2026-05-29 19:43:17 +08:00
b0c399c635
Update RoboGauge available checker
2026-05-18 22:23:37 +08:00
2462c854f7
use official unitree motor as default; disable randomized action delay env; update readme.
2026-05-11 12:26:39 +08:00
928d0fb856
Update ONNX export
2026-05-11 09:37:43 +08:00
84b7c1e3bd
change joint_pos_penalty_l1's weight to -0.01 due to better performance; add default actuator-level action delay in GO2_CFG_UNITREE.
2026-05-05 00:35:22 +08:00
0cdd3b9ac1
Align Go2 terrain generation with gym
2026-04-30 20:27:45 +08:00
b5d03f6b30
switch back to average friction combine mode; remove domain rand: randomize_com_positions_other.
2026-04-30 17:47:05 +08:00
8ef6d36e67
fix: set log_dir to None for OnPolicyRunnerCTS init.
2026-04-29 11:09:39 +08:00
c9cd1d757a
add commit ID to git diff output in logger and logger_cts.
2026-04-28 15:27:25 +08:00
411236eb3c
replace joint_pos_limits reward with isaaclabs'; clean code; update readme.
2026-04-28 14:10:04 +08:00
41241914a3
switch to multiply friction combine mode; add domain rand: randomize_com_positions_other.
2026-04-27 15:36:05 +08:00
ed50f647ac
fix terrains, change slope_threshold in every subterrain for correct terrain generation.
2026-04-24 00:21:07 +08:00
52b14b0c3f
update readme: fix installation guide, add difference from go2_rl_gym; rename terrains.py.
2026-04-20 21:35:41 +08:00
34ba7465a9
add joint_pos_penalty_l1 for better performance.
2026-04-20 14:59:34 +08:00
ee962954cb
update readme.
2026-04-14 21:38:58 +08:00
a401337bb2
align terrain settings to go2_rl_gym.
2026-04-14 21:10:13 +08:00
f011fcc9e5
Add robogauge usage in README
2026-04-13 17:30:16 +08:00
b76245dc55
refactor terrain config for clarity.
2026-04-13 15:34:23 +08:00
fd3650b6da
lower dof_acc_l2 weight in Lab due to physics-step level implementation and sensitivity to outliers.
2026-04-13 14:56:15 +08:00
d0224eb62f
align terrain settings with go2_rl_gym.
2026-04-12 01:48:46 +08:00
4b0a3df61d
delete randomize_com_positions_other, align friction settings with gym.
2026-04-11 23:08:57 +08:00
3a3e8f95fa
update scripts, preload h5py to fix windows bug when using GUI.
2026-04-11 01:03:52 +08:00
81fea30614
update installation guide in readme.
2026-04-11 00:26:31 +08:00
e382e0170a
update scripts, preload tensordict's native extension to prevent Windows access violation during RSL-RL imports.
2026-04-11 00:25:09 +08:00
93fa055f79
add env without action delay (up to test actuator level action delay).
2026-04-08 22:43:50 +08:00
09f5abb18a
add randomize_motor_zero_offset to align with go2_rl_gym.
2026-04-08 21:57:03 +08:00
4174c7ffcd
add go2 articulation cfg from unitree_rl_lab; align domain rand with go2_rl_gym.
2026-04-08 21:07:04 +08:00
3a68a35be7
replace commands.py with commands_go2_rl_gym.py.
2026-04-08 17:09:42 +08:00
1ca3f196a7
Add robogauge eval; update single obs export jit
2026-04-11 19:01:49 +08:00
4fe5d5f953
update readme; update deploy config.
2026-04-08 16:52:17 +08:00
c483f784ca
update height_scanner_small to 0.4*0.3m
2026-04-08 15:54:02 +08:00
9cfb6dc44a
refactor height target usage in rewards config.
2026-04-08 14:49:43 +08:00
8a4959bb4c
refactor height estimation logic.
2026-04-08 14:49:03 +08:00
c18ccc557e
fix fix_commands bug in play.py
2026-04-08 19:53:09 +08:00
e62895a9a0
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.
2026-04-07 18:23:10 +08:00
bd398b14ba
Fix terrain type bugs
2026-04-06 20:37:27 +08:00
71f69f3dde
change default training max_iteration.
2026-04-03 14:10:16 +08:00
f2fcb966b9
update readme.
2026-04-02 10:57:02 +08:00
f6ec5b68cc
refactor deploy scripts.
2026-03-31 12:58:24 +08:00
fea45ce4bd
fix bugs in actions; update readme.
2026-03-31 00:19:10 +08:00
89dce4524c
remove all reward “projected_gravity_b scale” to align with go2_rl_gym.
2026-03-30 19:33:43 +08:00
0b3cd3ab2f
align hip_pos_penalty reward with isaacgym (switch to hip_pos_penalty_l1).
2026-03-30 19:18:31 +08:00
3b5e47ec16
update deploy script to display current command.
2026-03-27 16:46:19 +08:00
f7e107057a
Add fix command, fix video save in play.py
2026-04-06 15:24:35 +08:00
71b1f50370
v0.1; add commands_go2_rl_gym
2026-04-01 21:23:00 +08:00
257e69f793
update readme.
2026-03-26 21:12:27 +08:00
6722a01ee3
enable self collisions; update readme; refactor script dir.
2026-03-26 18:04:42 +08:00
40c0112104
update terrain.
2026-03-26 13:39:08 +08:00
7b7a902c2c
delete unused data folder.
2026-03-25 21:17:33 +08:00
b2e779111b
update readme; rename config dir;
2026-03-25 20:01:34 +08:00
d6a9c5949a
support MuJoCo sim2sim; refactor resource files structure; update readme;
2026-03-25 17:39:51 +08:00
d946c689da
aligned to go2_rl_gym.
2026-03-25 14:40:03 +08:00
a1523d6949
align with go2_rl_gym.
2026-03-23 23:29:19 +08:00
b2668a9886
update readme.
2026-03-23 11:13:27 +08:00
fce9166e87
init commit.
2026-03-23 03:17:59 +08:00
youyuan.chen