From 00d3be8e7a49a80787a936d926a685bce50cffa7 Mon Sep 17 00:00:00 2001 From: ChenXi Date: Fri, 20 Mar 2026 08:00:51 -0400 Subject: [PATCH] Amend tiny bug --- rl_game/get_up/config/t1_env_cfg.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/rl_game/get_up/config/t1_env_cfg.py b/rl_game/get_up/config/t1_env_cfg.py index 4be7a52..d588651 100644 --- a/rl_game/get_up/config/t1_env_cfg.py +++ b/rl_game/get_up/config/t1_env_cfg.py @@ -1,5 +1,6 @@ import random +import numpy import torch from isaaclab.assets import ArticulationCfg from isaaclab.envs import ManagerBasedRLEnvCfg, ManagerBasedRLEnv @@ -12,7 +13,6 @@ from isaaclab.envs.mdp import JointPositionActionCfg from isaaclab.managers import SceneEntityCfg from isaaclab.utils import configclass from rl_game.get_up.env.t1_env import T1SceneCfg - import isaaclab.envs.mdp as mdp @@ -218,8 +218,8 @@ class T1EventCfg: params={ "asset_cfg": SceneEntityCfg("robot"), "pose_range": { - "roll": (0, 1.57) * random.choice([1, -1]) , # 左右侧卧 - "pitch": (1.4, 1.6) * random.choice([1, -1]) , # 仰卧/俯卧 + "roll": (-1.57, 1.57), # 左右侧卧 + "pitch": tuple(numpy.array([1.4, 1.6]) * random.choice([-1 , 1])), # 仰卧/俯卧 "yaw": (-3.14, 3.14), # 全向旋转 "x": (0.0, 0.0), "y": (0.0, 0.0),