From f78f79127503b9cfef082706c974686f7f5173da Mon Sep 17 00:00:00 2001
From: wertyuilife <yhw.werty@qq.com>
Date: Wed, 10 Jun 2026 14:25:29 +0800
Subject: [PATCH] update environment type in Go2RLGymCommand; enable debug vis
 on play; update gitignore.

---
 .gitignore                                           | 1 +
 scripts/rsl_rl/play.py                               | 1 +
 source/robot_lab/robot_lab/tasks/go2/mdp/commands.py | 6 +++---
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/.gitignore b/.gitignore
index 61ab52a..d8b21e7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -85,3 +85,4 @@ __pycache__/
 logs/
 **/logs/
 outputs/
+.omx/
\ No newline at end of file
diff --git a/scripts/rsl_rl/play.py b/scripts/rsl_rl/play.py
index 47a2f19..a3293ee 100644
--- a/scripts/rsl_rl/play.py
+++ b/scripts/rsl_rl/play.py
@@ -112,6 +112,7 @@ def fix_commands(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvC
             ang_vel_z=(fixed_ang_z, fixed_ang_z),
             heading=None,
         ),
+        debug_vis=True,
     )
     env_cfg.commands.base_velocity = fixed_cfg
 
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 90cc646..37c63d6 100644
--- a/source/robot_lab/robot_lab/tasks/go2/mdp/commands.py
+++ b/source/robot_lab/robot_lab/tasks/go2/mdp/commands.py
@@ -26,7 +26,7 @@ from __future__ import annotations  # For forward reference of type hints
 
 from typing import TYPE_CHECKING, Sequence
 if TYPE_CHECKING:  # Avoid circular import for type checking
-    from robot_lab.tasks.go2.env.go2_env import ActionDelayGo2Env
+    from robot_lab.tasks.go2.env.go2_env import Go2Env
 
 from itertools import product
 
@@ -44,9 +44,9 @@ from robot_lab.tasks.go2.mdp.utils import is_robot_on_terrain, sample_disjoint_i
 
 class Go2RLGymCommand(CommandTerm):
     cfg: Go2RLGymCommandCfg
-    _env: ActionDelayGo2Env
+    _env: Go2Env
     
-    def __init__(self, cfg: Go2RLGymCommandCfg, env: ActionDelayGo2Env):
+    def __init__(self, cfg: Go2RLGymCommandCfg, env: Go2Env):
         """Reference: https://github.com/wty-yy/go2_rl_gym/blob/master/legged_gym/envs/base/legged_robot.py
         LeggedRobot._resample_command() and LeggedRobot._post_physics_step_callback()
         """