From db6ba4e6a3f14218c2c97881e68a5e75d9554bde Mon Sep 17 00:00:00 2001 From: budzianowski Date: Thu, 5 Dec 2024 19:48:48 -0800 Subject: [PATCH] update setup --- sim/envs/humanoids/zeroth_config.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sim/envs/humanoids/zeroth_config.py b/sim/envs/humanoids/zeroth_config.py index 3a40ec83..3a76c0c7 100644 --- a/sim/envs/humanoids/zeroth_config.py +++ b/sim/envs/humanoids/zeroth_config.py @@ -37,8 +37,8 @@ class asset(LeggedRobotCfg.asset): name = "zeroth" file = str(robot_urdf_path(name)) - foot_name = ["foot_left", "foot_right"] - knee_name = ["ankle_pitch_left", "ankle_pitch_right"] + foot_name = ["foot_bracket_for_5dof_leg_v9", "foot_bracket_for_5dof_leg_v9_2"] + knee_name = ["leg_top_bracket_v8_1", "leg_top_bracket_v8_1_2"] termination_height = 0.05 default_feet_height = 0.01