Removes duplicated TerminationsCfg code in G1 and H1 RoughEnvCfg (#…

…1484)

# Description

`TerminationsCfg` is the same as `LocomotionVelocityRoughEnvCfg`, there
is no need to configure it again, just modify the corresponding name
`self.terminations.base_contact.params["sensor_cfg"].body_names`

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Co-authored-by: Kelly Guo <[email protected]>

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py

@@ -5,7 +5,6 @@
 
 from omni.isaac.lab.managers import RewardTermCfg as RewTerm
 from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
 from omni.isaac.lab.utils import configclass
 
 import omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp as mdp
@@ -104,21 +103,9 @@ class G1Rewards(RewardsCfg):
     )
 
 
-@configclass
-class TerminationsCfg:
-    """Termination terms for the MDP."""
-
-    time_out = DoneTerm(func=mdp.time_out, time_out=True)
-    base_contact = DoneTerm(
-        func=mdp.illegal_contact,
-        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="torso_link"), "threshold": 1.0},
-    )
-
-
 @configclass
 class G1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
     rewards: G1Rewards = G1Rewards()
-    terminations: TerminationsCfg = TerminationsCfg()
 
     def __post_init__(self):
         # post init of parent
@@ -163,6 +150,9 @@ def __post_init__(self):
         self.commands.base_velocity.ranges.lin_vel_y = (-0.0, 0.0)
         self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
 
+        # terminations
+        self.terminations.base_contact.params["sensor_cfg"].body_names = "torso_link"
+
 
 @configclass
 class G1RoughEnvCfg_PLAY(G1RoughEnvCfg):

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py

@@ -5,7 +5,6 @@
 
 from omni.isaac.lab.managers import RewardTermCfg as RewTerm
 from omni.isaac.lab.managers import SceneEntityCfg
-from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
 from omni.isaac.lab.utils import configclass
 
 import omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp as mdp
@@ -71,21 +70,9 @@ class H1Rewards(RewardsCfg):
     )
 
 
-@configclass
-class TerminationsCfg:
-    """Termination terms for the MDP."""
-
-    time_out = DoneTerm(func=mdp.time_out, time_out=True)
-    base_contact = DoneTerm(
-        func=mdp.illegal_contact,
-        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*torso_link"), "threshold": 1.0},
-    )
-
-
 @configclass
 class H1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
     rewards: H1Rewards = H1Rewards()
-    terminations: TerminationsCfg = TerminationsCfg()
 
     def __post_init__(self):
         # post init of parent
@@ -127,6 +114,9 @@ def __post_init__(self):
         self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
         self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)
 
+        # terminations
+        self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link"
+
 
 @configclass
 class H1RoughEnvCfg_PLAY(H1RoughEnvCfg):