From 2c542713b633586b833ecf13fb48614b5ebf61ed Mon Sep 17 00:00:00 2001 From: myuansun <1273414643@qq.com> Date: Sat, 3 Jan 2026 00:03:58 +0800 Subject: [PATCH 1/5] [update] comments --- roboverse_pack/callback_funcs/humanoid/reset_funcs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboverse_pack/callback_funcs/humanoid/reset_funcs.py b/roboverse_pack/callback_funcs/humanoid/reset_funcs.py index 083603b9d..4714fcd6b 100644 --- a/roboverse_pack/callback_funcs/humanoid/reset_funcs.py +++ b/roboverse_pack/callback_funcs/humanoid/reset_funcs.py @@ -37,7 +37,7 @@ def random_root_state( env.setup_initial_env_states.robots[env.name].root_state[env_ids, 0:3] = positions env.setup_initial_env_states.robots[env.name].root_state[env_ids, 3:7] = orientations env.setup_initial_env_states.robots[env.name].root_state[env_ids, 7:13] = velocities - # # set into the physics simulation + # set into the physics simulation # env.write_robot_root_state(torch.cat([positions, orientations, velocities], dim=-1), env_ids=env_ids) From 4cc9c1ee1f6ec9f1131131776ad08d0ff174af7e Mon Sep 17 00:00:00 2001 From: myuansun <1273414643@qq.com> Date: Sat, 3 Jan 2026 01:15:41 +0800 Subject: [PATCH 2/5] meaningless update --- roboverse_pack/callback_funcs/humanoid/reward_funcs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py index 6c3ad78ea..1a35a8bbb 100644 --- a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py +++ b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py @@ -11,7 +11,7 @@ def track_lin_vel_xy(env: EnvTypes, env_states: TensorState, std: float) -> torch.Tensor: """Reward tracking of linear velocity commands (xy axes) in the gravity aligned robot frame using exponential kernel.""" - # extract the used quantities (to enable type-hinting) + # extract the used quantities (to enable type-hinting). robot_state = env_states.robots[env.name] base_quat = robot_state.root_state[:, 3:7] base_lin_vel = quat_rotate_inverse(base_quat, robot_state.root_state[:, 7:10]) From 1a827f9082cd1aa89f5d469c64be0a21f7ada847 Mon Sep 17 00:00:00 2001 From: myuansun <1273414643@qq.com> Date: Sat, 3 Jan 2026 01:53:54 +0800 Subject: [PATCH 3/5] meaningless change --- roboverse_pack/callback_funcs/humanoid/reward_funcs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py index 1a35a8bbb..27fa7eb6d 100644 --- a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py +++ b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py @@ -112,7 +112,7 @@ def _get_indices(env: EnvTypes, sub_names: tuple[str] | str, all_names: list[str def joint_deviation_l1(env: EnvTypes, env_states: TensorState, joint_names: str | tuple[str]) -> torch.Tensor: """Penalize joint positions that deviate from the default one.""" indices = _get_indices(env, joint_names, env.sorted_joint_names) - # extract the used quantities (to enable type-hinting) + # extract the used quantities (to enable type-hinting). robot_state = env_states.robots[env.name] # compute out of limits constraints angle = robot_state.joint_pos[:, indices] - env.default_dof_pos[indices] From 24195d907bf083cec80f806c1889819642e044b6 Mon Sep 17 00:00:00 2001 From: myuansun <1273414643@qq.com> Date: Sat, 3 Jan 2026 03:14:10 +0800 Subject: [PATCH 4/5] meaningless change --- roboverse_pack/callback_funcs/humanoid/reward_funcs.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py index 27fa7eb6d..6c3ad78ea 100644 --- a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py +++ b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py @@ -11,7 +11,7 @@ def track_lin_vel_xy(env: EnvTypes, env_states: TensorState, std: float) -> torch.Tensor: """Reward tracking of linear velocity commands (xy axes) in the gravity aligned robot frame using exponential kernel.""" - # extract the used quantities (to enable type-hinting). + # extract the used quantities (to enable type-hinting) robot_state = env_states.robots[env.name] base_quat = robot_state.root_state[:, 3:7] base_lin_vel = quat_rotate_inverse(base_quat, robot_state.root_state[:, 7:10]) @@ -112,7 +112,7 @@ def _get_indices(env: EnvTypes, sub_names: tuple[str] | str, all_names: list[str def joint_deviation_l1(env: EnvTypes, env_states: TensorState, joint_names: str | tuple[str]) -> torch.Tensor: """Penalize joint positions that deviate from the default one.""" indices = _get_indices(env, joint_names, env.sorted_joint_names) - # extract the used quantities (to enable type-hinting). + # extract the used quantities (to enable type-hinting) robot_state = env_states.robots[env.name] # compute out of limits constraints angle = robot_state.joint_pos[:, indices] - env.default_dof_pos[indices] From c18de36b3e8bdc984e148bcb604df7bd5d086196 Mon Sep 17 00:00:00 2001 From: myuansun <1273414643@qq.com> Date: Sat, 3 Jan 2026 03:49:01 +0800 Subject: [PATCH 5/5] meaningless change --- roboverse_pack/callback_funcs/humanoid/reward_funcs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py index 6c3ad78ea..1a35a8bbb 100644 --- a/roboverse_pack/callback_funcs/humanoid/reward_funcs.py +++ b/roboverse_pack/callback_funcs/humanoid/reward_funcs.py @@ -11,7 +11,7 @@ def track_lin_vel_xy(env: EnvTypes, env_states: TensorState, std: float) -> torch.Tensor: """Reward tracking of linear velocity commands (xy axes) in the gravity aligned robot frame using exponential kernel.""" - # extract the used quantities (to enable type-hinting) + # extract the used quantities (to enable type-hinting). robot_state = env_states.robots[env.name] base_quat = robot_state.root_state[:, 3:7] base_lin_vel = quat_rotate_inverse(base_quat, robot_state.root_state[:, 7:10])