From c7a80005c1efbd1234071df75b6b863e4679cfe5 Mon Sep 17 00:00:00 2001 From: wertyuilife Date: Wed, 10 Jun 2026 11:59:42 +0800 Subject: [PATCH] fix: reset limited command state --- source/robot_lab/robot_lab/tasks/go2/mdp/commands.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/source/robot_lab/robot_lab/tasks/go2/mdp/commands.py b/source/robot_lab/robot_lab/tasks/go2/mdp/commands.py index dc5a321..90cc646 100644 --- a/source/robot_lab/robot_lab/tasks/go2/mdp/commands.py +++ b/source/robot_lab/robot_lab/tasks/go2/mdp/commands.py @@ -107,9 +107,12 @@ class Go2RLGymCommand(CommandTerm): self.metrics["max_command_x"] = self.max_command_x def reset(self, env_ids: Sequence[int] | None = None): + if env_ids is None: + env_ids = torch.arange(self.num_envs, device=self.device) self.time_left[env_ids] = self.cfg.resampling_time self.commands_xy_accumulation[env_ids] = 0.0 self.max_move_distance[env_ids] = 0.0 + self.last_is_limit_vel[env_ids] = False return super().reset(env_ids) def _resample(self, env_ids: Sequence[int]):