stands only isaac

kscalelabs · Jan 3, 2025 · 4739e09 · 4739e09
1 parent 6c5aefc
commit 4739e09
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Showing 3 changed files with 8 additions and 9 deletions.
diff --git a/sim/envs/base/legged_robot.py b/sim/envs/base/legged_robot.py
@@ -102,7 +102,6 @@ def post_physics_step(self):
         # prepare quantities
         if self.imu_indices:
             self.base_quat = self.rigid_state[:, self.imu_indices, 3:7]
-            breakpoint()
             self.base_lin_vel[:] = quat_rotate_inverse(self.base_quat, self.rigid_state[:, self.imu_indices, 7:10])
             self.base_ang_vel[:] = quat_rotate_inverse(self.base_quat, self.rigid_state[:, self.imu_indices, 10:13])
         else:
@@ -858,7 +857,7 @@ def _parse_cfg(self, cfg):
             self.cfg.terrain.curriculum = False
         self.max_episode_length_s = self.cfg.env.episode_length_s
         self.max_episode_length = np.ceil(self.max_episode_length_s / self.dt)
-
+    
         self.cfg.domain_rand.push_interval = np.ceil(self.cfg.domain_rand.push_interval_s / self.dt)
 
     def _draw_debug_vis(self):

diff --git a/sim/envs/humanoids/g1_env.py b/sim/envs/humanoids/g1_env.py
@@ -73,7 +73,7 @@ def _push_robots(self):
             -max_vel, max_vel, (self.num_envs, 2), device=self.device
         )  # lin vel x/y
         self.root_states[:, 7:9] = self.rand_push_force[:, :2]
-
+        
         self.rand_push_torque = torch_rand_float(
             -max_push_angular, max_push_angular, (self.num_envs, 3), device=self.device
         )

diff --git a/sim/envs/humanoids/gpr_config.py b/sim/envs/humanoids/gpr_config.py
@@ -140,8 +140,8 @@ class asset(LeggedRobotCfg.asset):
         fix_base_link = False
 
     class terrain(LeggedRobotCfg.terrain):
-        # mesh_type = "plane"
-        mesh_type = "trimesh"
+        mesh_type = "plane"
+        # mesh_type = "trimesh"
         curriculum = False
         # rough terrain only:
         measure_heights = False
@@ -217,9 +217,9 @@ class domain_rand(LeggedRobotCfg.domain_rand):
         randomize_base_mass = True
         added_mass_range = [-2.0, 2.0]
         push_robots = True
-        push_interval_s = 3
-        max_push_vel_xy = 1.7
-        max_push_ang_vel = 1.0
+        push_interval_s = 5
+        max_push_vel_xy = 0.6
+        max_push_ang_vel = 0.3
         # dynamic randomization
         action_noise = 0.02
         action_delay = 0.5
@@ -334,7 +334,7 @@ class scales:
             action_smoothness = -0.002
             torques = -1e-5
             dof_vel = -1e-3
-            dof_acc = -1e-2
+            dof_acc = -2.5e-7
             collision = -1.0