From fea45ce4bdc578fab8bfaf9228eb0a2683a57395 Mon Sep 17 00:00:00 2001 From: wertyuilife Date: Tue, 31 Mar 2026 00:19:10 +0800 Subject: [PATCH] fix bugs in actions; update readme. --- README.md | 2 ++ source/robot_lab/robot_lab/tasks/go2/env/go2_env.py | 2 +- .../robot_lab/robot_lab/tasks/go2/manager/action_manager.py | 5 ++++- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index ced08d0..59b0637 100644 --- a/README.md +++ b/README.md @@ -159,6 +159,8 @@ xml_path: "{ROOT_DIR}/resources/go2/your-custom-scene.xml" - Different terrain composition - Different tracking reward formulation (fixed sigma vs. dynamic sigma) +- Lack domain_rand: randomize_motor_zero_offset +- Lack domain_rand: randomize_motor_strength --- diff --git a/source/robot_lab/robot_lab/tasks/go2/env/go2_env.py b/source/robot_lab/robot_lab/tasks/go2/env/go2_env.py index 61582f5..3317f9a 100644 --- a/source/robot_lab/robot_lab/tasks/go2/env/go2_env.py +++ b/source/robot_lab/robot_lab/tasks/go2/env/go2_env.py @@ -64,7 +64,7 @@ class ActionDelayGo2Env(ManagerBasedRLEnv): self._sim_step_counter += 1 # determine which envs should apply delayed action at this decimation step - action_delay_masks = (i <= actions_start_decimation) + action_delay_masks = (i < actions_start_decimation) self.action_manager.process_action_with_delay(action_delay_masks) # set actions into buffers diff --git a/source/robot_lab/robot_lab/tasks/go2/manager/action_manager.py b/source/robot_lab/robot_lab/tasks/go2/manager/action_manager.py index b2ac01d..c5e5896 100644 --- a/source/robot_lab/robot_lab/tasks/go2/manager/action_manager.py +++ b/source/robot_lab/robot_lab/tasks/go2/manager/action_manager.py @@ -9,7 +9,10 @@ class ActionManagerWithDelay(ActionManager): def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, torch.Tensor]: super().reset(env_ids) - self._prev_prev_action.zero_() + if env_ids is None: + self._prev_prev_action.zero_() + else: + self._prev_prev_action[env_ids] = 0.0 return {} def process_action(self, action: torch.Tensor):