Apollo3D/Gym_GPU
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Amend tiny bug

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ChenXi
2026-03-20 08:12:08 -04:00
parent 00d3be8e7a
commit c0088ebac3
1 changed files with 2 additions and 1 deletions
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3
rl_game/get_up/config/t1_env_cfg.py
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@@ -1,6 +1,7 @@
import random import random
import numpy import numpy
import numpy as np
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
@@ -219,7 +220,7 @@ class T1EventCfg:
"asset_cfg": SceneEntityCfg("robot"), "asset_cfg": SceneEntityCfg("robot"),
"pose_range": { "pose_range": {
"roll": (-1.57, 1.57), # 左右侧卧 "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 "pitch": tuple(numpy.array([1.4, 1.6], dtype=np.float32) * 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),