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v0.1.7; fix env_command_range prob

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wty-yy
2026-01-08 16:55:44 +08:00
parent 47755ce06c
commit 836a4e544f
2 changed files with 7 additions and 5 deletions
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8
legged_gym/envs/base/legged_robot.py
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@@ -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()