add force and trimesh

kscalelabs · Dec 6, 2024 · 0d5700d · 0d5700d
1 parent 9b5e1b7
commit 0d5700d
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/sim/envs/humanoids/grp_config.py b/sim/envs/humanoids/grp_config.py
@@ -51,8 +51,8 @@ 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
@@ -123,7 +123,7 @@ class domain_rand(LeggedRobotCfg.domain_rand):
 
         randomize_base_mass = True
         added_mass_range = [-3.0, 3.0]
-        push_robots = False
+        push_robots = True
         push_interval_s = 4
         max_push_vel_xy = 0.2
         max_push_ang_vel = 0.4