add standing config

kscalelabs · Jan 4, 2025 · 396e435 · 396e435
1 parent 03e16c6
commit 396e435
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Showing 2 changed files with 43 additions and 2 deletions.
diff --git a/sim/envs/__init__.py b/sim/envs/__init__.py
@@ -18,7 +18,7 @@
 from sim.envs.humanoids.h1_env import H1FreeEnv
 from sim.envs.humanoids.xbot_config import XBotCfg, XBotCfgPPO
 from sim.envs.humanoids.xbot_env import XBotLFreeEnv
-from sim.envs.humanoids.zbot2_config import ZBot2Cfg, ZBot2CfgPPO
+from sim.envs.humanoids.zbot2_config import ZBot2Cfg, ZBot2CfgPPO, ZBot2StandingCfg
 from sim.envs.humanoids.zbot2_env import ZBot2Env
 from sim.envs.humanoids.zeroth_config import ZerothCfg, ZerothCfgPPO
 from sim.envs.humanoids.zeroth_env import ZerothEnv
@@ -32,4 +32,5 @@
 task_registry.register("g1", G1FreeEnv, G1Cfg(), G1CfgPPO())
 task_registry.register("XBotL_free", XBotLFreeEnv, XBotCfg(), XBotCfgPPO())
 task_registry.register("zbot2", ZBot2Env, ZBot2Cfg(), ZBot2CfgPPO())
+task_registry.register("zbot2_standing", ZBot2Env, ZBot2StandingCfg(), ZBot2CfgPPO())
 task_registry.register("zeroth", ZerothEnv, ZerothCfg(), ZerothCfgPPO())
diff --git a/sim/envs/humanoids/zbot2_config.py b/sim/envs/humanoids/zbot2_config.py
@@ -40,7 +40,7 @@ class asset(LeggedRobotCfg.asset):
         foot_name = ["FOOT", "FOOT_1"]
         knee_name = ["WJ-DP00-0002-FK-AP-020_7_8", "SJ-WK00-0023BOTTOMCASE_12_13"]
 
-        termination_height = 0.05
+        termination_height = 0.1
         default_feet_height = 0.01
 
         penalize_contacts_on = []
@@ -205,6 +205,46 @@ class viewer:
         lookat = [0, -2, 0]
 
 
+class ZBot2StandingCfg(ZBot2Cfg):
+    """Standing configuration for the ZBot2 humanoid robot."""
+
+    class init_state(LeggedRobotCfg.init_state):
+        # Use the same or slightly higher base position if you'd like a different "standing" height
+        pos = [0.0, 0.0, Robot.height]
+        rot = Robot.rotation
+
+        # Start with all zeros
+        default_joint_angles = {k: 0.0 for k in Robot.all_joints()}
+
+        # Overwrite with the default standing angles from Robot
+        default_positions = Robot.default_standing()
+        for joint in default_positions:
+            default_joint_angles[joint] = default_positions[joint]
+
+    class rewards:
+        base_height_target = Robot.height
+        min_dist = 0.2
+        max_dist = 0.5
+        target_joint_pos_scale = 0.17  # rad
+        target_feet_height = 0.05  # m
+        cycle_time = 0.5  # sec
+        only_positive_rewards = False
+        tracking_sigma = 5
+        max_contact_force = 200
+
+        class scales:
+            # You can keep or change these from ZBot2Cfg
+            default_joint_pos = 1.0
+            orientation = 1
+            base_height = 0.2
+            base_acc = 0.2
+            action_smoothness = -0.002
+            torques = -1e-5
+            dof_vel = -1e-3
+            dof_acc = -2.5e-7
+            collision = -1.0
+
+
 class ZBot2CfgPPO(LeggedRobotCfgPPO):
     seed = 5
     runner_class_name = "OnPolicyRunner"  # DWLOnPolicyRunner