From fdf69b0741f832705ee8a06f86c9f3f9845fa0dd Mon Sep 17 00:00:00 2001 From: mothinf <178637604+mothinf@users.noreply.github.com> Date: Tue, 29 Sep 2026 12:36:41 +0800 Subject: [PATCH] fix-push-velocity-no-reset-velocity --- src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml b/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml index cebc64c13..27fba7f09 100644 --- a/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml +++ b/src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml @@ -23,6 +23,16 @@ algo: env: sim_dt: 0.005 + commands: + motion: + params: + velocity_range: + x: [0.0, 0.0] + y: [0.0, 0.0] + z: [0.0, 0.0] + roll: [0.0, 0.0] + pitch: [0.0, 0.0] + yaw: [0.0, 0.0] scene: entities: robot: @@ -160,9 +170,9 @@ env: is_global_time: true params: velocity_range: - x: [-1.0, 1.0] - y: [-1.0, 1.0] - z: [-0.5, 0.5] + x: [-0.18, 0.18] + y: [-0.18, 0.18] + z: [-0.072, 0.072] roll: [0.0, 0.0] pitch: [0.0, 0.0] yaw: [0.0, 0.0]