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Updates locomotion configs to fix body_com error #2655

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Updates locomotion configs to fix body_com error #2655

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1 change: 1 addition & 0 deletions ...saaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py
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Expand Up @@ -87,3 +87,4 @@ def __post_init__(self):
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = None
self.events.base_com = None
2 changes: 2 additions & 0 deletions ...lab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/rough_env_cfg.py
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Expand Up @@ -117,3 +117,5 @@ def __post_init__(self):
self.commands.base_velocity.ranges.heading = (0.0, 0.0)
# disable randomization for play
self.observations.policy.enable_corruption = False
# disable com randomization
self.events.base_com = None
1 change: 1 addition & 0 deletions ...saaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py
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Expand Up @@ -183,3 +183,4 @@ def __post_init__(self):
# remove random pushing
self.events.base_external_force_torque = None
self.events.push_robot = None
self.events.base_com = None
1 change: 1 addition & 0 deletions ...aaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,3 +87,4 @@ def __post_init__(self):
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = None
self.events.base_com = None
1 change: 1 addition & 0 deletions ...aaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,3 +87,4 @@ def __post_init__(self):
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = None
self.events.base_com = None
1 change: 1 addition & 0 deletions ...saaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,3 +147,4 @@ def __post_init__(self):
# remove random pushing
self.events.base_external_force_torque = None
self.events.push_robot = None
self.events.base_com = None
4 changes: 1 addition & 3 deletions ...aaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py
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Expand Up @@ -301,7 +301,7 @@ class SpotTerminationsCfg:
@configclass
class SpotFlatEnvCfg(LocomotionVelocityRoughEnvCfg):

# Basic settings'
# Basic settings
observations: SpotObservationsCfg = SpotObservationsCfg()
actions: SpotActionsCfg = SpotActionsCfg()
commands: SpotCommandsCfg = SpotCommandsCfg()
Expand Down Expand Up @@ -380,5 +380,3 @@ def __post_init__(self) -> None:
# disable randomization for play
self.observations.policy.enable_corruption = False
# remove random pushing event
# self.events.base_external_force_torque = None
# self.events.push_robot = None
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did you mean to delete this line too?