save before using quat

kscalelabs · Jan 8, 2025 · 27c1af8 · 27c1af8
1 parent c9921bb
commit 27c1af8
Show file tree

Hide file tree

Showing 4 changed files with 169 additions and 161 deletions.
diff --git a/sim/envs/humanoids/zbot2_config.py b/sim/envs/humanoids/zbot2_config.py
@@ -212,14 +212,14 @@ class physx(LeggedRobotCfg.sim.physx):
             contact_collection = 2
 
     class domain_rand(LeggedRobotCfg.domain_rand):
-        start_pos_noise = 0.03
+        start_pos_noise = 0.05
         randomize_friction = True
         friction_range = [0.1, 1.5]
         randomize_base_mass = True
-        added_mass_range = [-0.1, 0.1]
+        added_mass_range = [-0.1, 0.2]
         push_robots = True
         push_interval_s = 4
-        max_push_vel_xy = 0.05
+        max_push_vel_xy = 0.1
         max_push_ang_vel = 0.2
         # dynamic randomization
         action_delay = 0.5
@@ -240,12 +240,12 @@ class ranges:
 
     class rewards:
         base_height_target = Robot.height
-        min_dist = 0.03
-        max_dist = 0.14
+        min_dist = 0.07
+        max_dist = 0.2
 
         # put some settings here for LLM parameter tuning
         # pfb30
-        target_joint_pos_scale = 0.24  # rad
+        target_joint_pos_scale = 0.27  # rad
         target_feet_height = 0.03  # m
         cycle_time = 0.4  # sec
         # if true negative total rewards are clipped at zero (avoids early termination problems)

diff --git a/sim/play2.py b/sim/play2.py
@@ -61,7 +61,7 @@ def play(args: argparse.Namespace) -> None:
     env_cfg.terrain.curriculum = False
     env_cfg.terrain.max_init_terrain_level = 5
     env_cfg.noise.add_noise = True
-    env_cfg.domain_rand.push_robots = False
+    env_cfg.domain_rand.push_robots = True
     env_cfg.domain_rand.joint_angle_noise = 0.0
     env_cfg.noise.curriculum = False
     env_cfg.noise.noise_level = 0.5