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test autotest for forked PR #744

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2c54271
[update] comments
myuansun Jan 2, 2026
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meaningless update
myuansun Jan 2, 2026
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myuansun Jan 2, 2026
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2 changes: 1 addition & 1 deletion roboverse_pack/callback_funcs/humanoid/reset_funcs.py
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Expand Up @@ -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)


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2 changes: 1 addition & 1 deletion roboverse_pack/callback_funcs/humanoid/reward_funcs.py
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Expand Up @@ -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])
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