Skip to content

Remove velocity play configs #6860

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ClemensSchwarke wants to merge 4 commits into
base: develop
Choose a base branch
from
Open

Remove velocity play configs #6860

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
8a02f48
remove play configs
ClemensSchwarke Aug 3, 2026
bb17456
add changelog fragment
ClemensSchwarke Aug 3, 2026
2bcf4be
Merge branch 'develop' into fix/velocity-play-configs
ClemensSchwarke Aug 3, 2026
1a35791
Merge branch 'develop' into fix/velocity-play-configs
ClemensSchwarke Aug 3, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions source/isaaclab_tasks/changelog.d/fix-velocity-play-configs.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
Removed
^^^^^^^

* Removed per-robot ``play_mode()`` overrides from Cassie, G1, and H1 rough velocity
environment configs. The base :meth:`~isaaclab_tasks.core.velocity.LocomotionVelocityRoughEnvCfg.play_mode`
is now used directly without robot-specific command range overrides.
7 changes: 0 additions & 7 deletions source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/rough_env_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -82,10 +82,3 @@ def __post_init__(self):
self.events.base_com = None
self.events.base_external_force_torque.params["asset_cfg"].body_names = ".*pelvis"
self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)

def play_mode(self):
super().play_mode()

self.commands.base_velocity.ranges.lin_vel_x = (0.7, 1.0)
self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
self.commands.base_velocity.ranges.heading = (0.0, 0.0)
9 changes: 0 additions & 9 deletions source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/rough_env_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -139,12 +139,3 @@ def __post_init__(self):
self.events.base_com = None
self.events.base_external_force_torque.params["asset_cfg"].body_names = "torso_link"
self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)

def play_mode(self):
super().play_mode()

self.episode_length_s = 40.0
self.commands.base_velocity.ranges.lin_vel_x = (1.0, 1.0)
self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
self.commands.base_velocity.ranges.heading = (0.0, 0.0)
9 changes: 0 additions & 9 deletions source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/rough_env_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -99,12 +99,3 @@ def __post_init__(self):
self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
self.events.base_com = None
self.events.base_external_force_torque.params["asset_cfg"].body_names = ".*torso_link"

def play_mode(self):
super().play_mode()

self.episode_length_s = 40.0
self.commands.base_velocity.ranges.lin_vel_x = (1.0, 1.0)
self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
self.commands.base_velocity.ranges.heading = (0.0, 0.0)
31 changes: 0 additions & 31 deletions source/isaaclab_tasks/test/core/test_velocity_play_mode.py
View file
Open in desktop

This file was deleted.

Loading