fix noise

kscalelabs · Jan 2, 2025 · 63ed694 · 63ed694
1 parent 3574ef1
commit 63ed694
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/sim/envs/base/legged_robot.py b/sim/envs/base/legged_robot.py
@@ -479,7 +479,7 @@ def _resample_default_positions(self):
             self.default_dof_pos[i] = self.cfg.init_state.default_joint_angles[name]
 
             if self.add_noise:
-                self.default_dof_pos[i] += torch.randn(1) * self.cfg.noise.noise_ranges.default_pos
+                self.default_dof_pos[i] += torch.randn(1).item() * self.cfg.noise.noise_ranges.default_pos
 
     # ----------------------------------------
     def _init_buffers(self):

diff --git a/sim/envs/humanoids/gpr_config.py b/sim/envs/humanoids/gpr_config.py
@@ -168,7 +168,7 @@ class noise_scales:
             quat = 0.03
             height_measurements = 0.1
 
-        class nosie_ranges:
+        class noise_ranges:
             default_pos = 0.03 # +- 0.05 rad
 
     class init_state(LeggedRobotCfg.init_state):