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Fix boundary value and torch warning

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This commit is contained in:
wty-yy
2026-06-26 21:26:22 +08:00
parent efde17bd87
commit 9c172a0d39
3 changed files with 10 additions and 2 deletions
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7
robogauge/tasks/simulator/mujoco_simulator.py
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@@ -781,6 +781,13 @@ class MujocoSimulator:
contact_force = np.zeros(6, dtype=np.float64)
mujoco.mj_contactForce(self.mj_model, self.mj_data, i, contact_force)
max_contact_force = 1e6
contact_force = np.nan_to_num(
contact_force,
nan=0.0, posinf=max_contact_force, neginf=-max_contact_force
)
contact_force = np.clip(contact_force, -max_contact_force, max_contact_force)
friction = np.array(contact.friction, dtype=np.float32).reshape(-1)
positions.append(np.array(contact.pos, dtype=np.float32))