Skip to content

add robot push by adding velocity #90

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

add robot push by adding velocity #90

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion legged_gym/envs/base/legged_robot.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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):
Expand Down