fix: del applied_torque_limits configs

fan-ziqi · Oct 19, 2024 · 744c3bc · 744c3bc
1 parent 393c759
commit 744c3bc
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diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/anymal_d/rough_env_cfg.py
@@ -74,8 +74,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
-        self.rewards.applied_torque_limits.params["asset_cfg"].body_names = ["base"]
         self.rewards.action_rate_l2.weight = -0.01
         # UNUESD self.rewards.action_l2.weight = 0.0
 

diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/fftai_gr1t1/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/fftai_gr1t1/rough_env_cfg.py
@@ -80,7 +80,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
         self.rewards.action_rate_l2.weight = -0.005
         # UNUESD self.rewards.action_l2.weight = 0.0
 

diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1/rough_env_cfg.py
@@ -86,8 +86,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
-        self.rewards.applied_torque_limits.params["asset_cfg"].body_names = ["trunk"]
         self.rewards.action_rate_l2.weight = -0.01
         # UNUESD self.rewards.action_l2.weight = 0.0
 

diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1_amp/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_a1_amp/rough_env_cfg.py
@@ -77,7 +77,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
         self.rewards.action_rate_l2.weight = 0
         # UNUESD self.rewards.action_l2.weight = 0.0
 

diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_go2w/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_go2w/rough_env_cfg.py
@@ -84,8 +84,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
-        self.rewards.applied_torque_limits.params["asset_cfg"].body_names = ["base"]
         self.rewards.action_rate_l2.weight = -0.01
         # UNUESD self.rewards.action_l2.weight = 0.0
 

diff --git a/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_h1/rough_env_cfg.py b/exts/robot_lab/robot_lab/tasks/locomotion/velocity/config/unitree_h1/rough_env_cfg.py
@@ -76,7 +76,6 @@ def __post_init__(self):
         self.rewards.joint_vel_limits.weight = 0
 
         # Action penalties
-        self.rewards.applied_torque_limits.weight = 0
         self.rewards.action_rate_l2.weight = -0.005
         # UNUESD self.rewards.action_l2.weight = 0.0