fix pd init

kscalelabs · Feb 6, 2025 · 72ab08f · 72ab08f
1 parent a5a5a44
commit 72ab08f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/sim/envs/base/legged_robot.py b/sim/envs/base/legged_robot.py
@@ -901,7 +901,7 @@ def _create_envs(self):
         self.motor_zero_offsets = torch.zeros(
             self.num_envs, self.num_actions, dtype=torch.float, device=self.device, requires_grad=False
         )
-        self.d_gains_multiplier = torch.ones(
+        self.p_gains_multiplier = torch.ones(
             self.num_envs, self.num_actions, dtype=torch.float, device=self.device, requires_grad=False
         )
         self.d_gains_multiplier = torch.ones(