From 72ab08f7557dab45c88e62f621e6e69d8307076b Mon Sep 17 00:00:00 2001 From: Wesley Maa Date: Wed, 5 Feb 2025 19:36:50 -0800 Subject: [PATCH] fix pd init --- sim/envs/base/legged_robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sim/envs/base/legged_robot.py b/sim/envs/base/legged_robot.py index 1b93473c..c84dd4bd 100644 --- 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(