v0.1.7; fix prob of not adjusting resample cmd based on the terrains

2026-01-08 12:44:17 +08:00
parent 6f477bf42d
commit 47755ce06c
7 changed files with 41 additions and 14 deletions
--- a/legged_gym/utils/isaacgym_utils.py
+++ b/legged_gym/utils/isaacgym_utils.py
@@ -45,3 +45,11 @@ def sample_disjoint_intervals(env_ids, limit_bound, cfg_min, cfg_max, device):
        cfg_max - width_pos + (u - width_neg)
    )
    return samples
+
+def sample_single_interval(env_ids, cfg_min, cfg_max, device):
+    """
+    sample uniform distribution from [cfg_min, cfg_max]
+    """
+    r = torch.rand(len(env_ids), device=device)
+    samples = cfg_min + r * (cfg_max - cfg_min)
+    return samples