Apollo3D/Gym_GPU
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Amend tiny bug

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ChenXi
2026-03-20 08:00:51 -04:00
parent ad2255bc18
commit 00d3be8e7a
1 changed files with 3 additions and 3 deletions
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6
rl_game/get_up/config/t1_env_cfg.py
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@@ -1,5 +1,6 @@
import random import random
import numpy
import torch import torch
from isaaclab.assets import ArticulationCfg from isaaclab.assets import ArticulationCfg
from isaaclab.envs import ManagerBasedRLEnvCfg, ManagerBasedRLEnv from isaaclab.envs import ManagerBasedRLEnvCfg, ManagerBasedRLEnv
@@ -12,7 +13,6 @@ from isaaclab.envs.mdp import JointPositionActionCfg
from isaaclab.managers import SceneEntityCfg from isaaclab.managers import SceneEntityCfg
from isaaclab.utils import configclass from isaaclab.utils import configclass
from rl_game.get_up.env.t1_env import T1SceneCfg from rl_game.get_up.env.t1_env import T1SceneCfg
import isaaclab.envs.mdp as mdp import isaaclab.envs.mdp as mdp
@@ -218,8 +218,8 @@ class T1EventCfg:
params={ params={
"asset_cfg": SceneEntityCfg("robot"), "asset_cfg": SceneEntityCfg("robot"),
"pose_range": { "pose_range": {
"roll": (0, 1.57) * random.choice([1, -1]) , # 左右侧卧 "roll": (-1.57, 1.57), # 左右侧卧
"pitch": (1.4, 1.6) * random.choice([1, -1]) , # 仰卧/俯卧 "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 "yaw": (-3.14, 3.14), # 全向旋转
"x": (0.0, 0.0), "x": (0.0, 0.0),
"y": (0.0, 0.0), "y": (0.0, 0.0),