cyy/go2_rl_robotlab
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix: reset limited command state

Browse Source
This commit is contained in:
wertyuilife
2026-06-10 11:59:42 +08:00
parent b3e8033659
commit c7a80005c1
1 changed files with 3 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
source/robot_lab/robot_lab/tasks/go2/mdp/commands.py
View File

@@ -107,9 +107,12 @@ class Go2RLGymCommand(CommandTerm):
self.metrics["max_command_x"] = self.max_command_x self.metrics["max_command_x"] = self.max_command_x
def reset(self, env_ids: Sequence[int] | None = None): 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.time_left[env_ids] = self.cfg.resampling_time
self.commands_xy_accumulation[env_ids] = 0.0 self.commands_xy_accumulation[env_ids] = 0.0
self.max_move_distance[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) return super().reset(env_ids)
def _resample(self, env_ids: Sequence[int]): def _resample(self, env_ids: Sequence[int]):