From f2c9816c040f27d8af9189e928e13bacb0eea1b5 Mon Sep 17 00:00:00 2001 From: "Nguyen Le CHUONG (EN/MCS/VNX Robotics)" Date: Thu, 31 Jul 2025 09:19:13 +0700 Subject: [PATCH] add robot push by adding velocity --- legged_gym/envs/base/legged_robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/legged_gym/envs/base/legged_robot.py b/legged_gym/envs/base/legged_robot.py index 90806a122..be1663640 100644 --- a/legged_gym/envs/base/legged_robot.py +++ b/legged_gym/envs/base/legged_robot.py @@ -415,7 +415,7 @@ def _push_robots(self): """ Random pushes the robots. Emulates an impulse by setting a randomized base velocity. """ max_vel = self.cfg.domain_rand.max_push_vel_xy - self.root_states[:, 7:9] = torch_rand_float(-max_vel, max_vel, (self.num_envs, 2), device=self.device) # lin vel x/y + self.root_states[:, 7:9] += torch_rand_float(-max_vel, max_vel, (self.num_envs, 2), device=self.device) # lin vel x/y self.gym.set_actor_root_state_tensor(self.sim, gymtorch.unwrap_tensor(self.root_states)) def _update_terrain_curriculum(self, env_ids):