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Fix terrain type bugs

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wty-yy
2026-04-06 20:37:27 +08:00
committed by wertyuilife
parent 71f69f3dde
commit bd398b14ba
1 changed files with 2 additions and 2 deletions
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4
source/robot_lab/robot_lab/tasks/go2/mdp/commands_go2_rl_gym.py
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@@ -262,10 +262,10 @@ class Go2RLGymCommand(CommandTerm):
def _update_env_command_ranges(self): def _update_env_command_ranges(self):
""" Update environment-wise command ranges based on current command ranges and terrain type """ """ Update environment-wise command ranges based on current command ranges and terrain type """
for terrain_type, terrain_command_ranges in self.cfg.terrain_max_command_ranges.items(): for terrain_type, terrain_command_ranges in self.cfg.terrain_max_command_ranges.items():
if terrain_type not in self.terrain_type2idx:
continue
terrain_idx = self.terrain_type2idx[terrain_type] terrain_idx = self.terrain_type2idx[terrain_type]
env_ids = (self.terrain_idxs == terrain_idx).nonzero().flatten() env_ids = (self.terrain_idxs == terrain_idx).nonzero().flatten()
if len(env_ids) == 0:
continue
self.env_command_ranges['lin_vel_x'][env_ids, 0] = max( self.env_command_ranges['lin_vel_x'][env_ids, 0] = max(
terrain_command_ranges['lin_vel_x'][0], terrain_command_ranges['lin_vel_x'][0],
self.command_ranges['lin_vel_x'][0], self.command_ranges['lin_vel_x'][0],