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Juyue
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samuelgundry
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Mar 5, 2026
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Nice one. Ideally we for tests to pass but if you've run internally, please comment as much.
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Description of changes:
Previously, the code assume
self.body_pos_w[env_ids, 0]is the root position. This is true for g1/t1: pelvis (0th element in body_pos_w) is the root. However, this assumption might be wrong in other robots. This PR fixes it by reading off the true root positionBy submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.