diff --git a/UPDATE.md b/UPDATE.md
index 234c878..49fccc4 100644
--- a/UPDATE.md
+++ b/UPDATE.md
@@ -1,6 +1,8 @@
 # 20260107
 ## v0.1.7
-Fix bug: 修复`cfg.commands.dynamic_resample_commands=False`时, 未根据环境调整指令采样范围的问题
+Fix bug: 
+1. 修复`cfg.commands.dynamic_resample_commands=False`时, 未根据环境调整指令采样范围的问题
+2. 修复`env_command_ranges`初始值问题
 ## v0.1.6
 1. 加入`go2_rem_cts`, student使用MoE结构, teacher使用普通CTS, 使用非共享权重和全goal输入
 2. 加入`move_down_by_accumulated_xy_command`选择是否通过累计速度来降低等级
diff --git a/legged_gym/envs/base/legged_robot.py b/legged_gym/envs/base/legged_robot.py
index 8ed4c4a..50b3fc5 100644
--- a/legged_gym/envs/base/legged_robot.py
+++ b/legged_gym/envs/base/legged_robot.py
@@ -830,10 +830,10 @@ class LeggedRobot(BaseTask):
         self.last_robot_props_update_step = torch.zeros(self.num_envs, dtype=torch.long, device=self.device, requires_grad=False)
         self.turn_over_timer = torch.zeros(self.num_envs, dtype=torch.float, device=self.device, requires_grad=False)
         self.env_command_ranges = {
-            'lin_vel_x': torch.zeros((self.num_envs, 2), dtype=torch.float, device=self.device, requires_grad=False),
-            'lin_vel_y': torch.zeros((self.num_envs, 2), dtype=torch.float, device=self.device, requires_grad=False),
-            'ang_vel_yaw': torch.zeros((self.num_envs, 2), dtype=torch.float, device=self.device, requires_grad=False),
-            'heading': torch.zeros((self.num_envs, 2), dtype=torch.float, device=self.device, requires_grad=False),
+            'lin_vel_x': torch.tensor(self.command_ranges['lin_vel_x'], device=self.device, requires_grad=False).repeat(self.num_envs, 1),
+            'lin_vel_y': torch.tensor(self.command_ranges['lin_vel_y'], device=self.device, requires_grad=False).repeat(self.num_envs, 1),
+            'ang_vel_yaw': torch.tensor(self.command_ranges['ang_vel_yaw'], device=self.device, requires_grad=False).repeat(self.num_envs, 1),
+            'heading': torch.tensor(self.command_ranges['heading'], device=self.device, requires_grad=False).repeat(self.num_envs, 1),
         }
         self._update_env_command_ranges()