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Stop heading and world frame commands from overriding rel_forward_envs - #1214
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kevinzakka merged 1 commit intoOct 6, 2026
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In UniformVelocityCommand._resample_command, is_heading_env and is_world_env are sampled independently of is_forward_env, and _update_command rewrites vel_command_b every step for both. Clear both flags for fwd_ids at resample time so envs sampled by rel_forward_envs keep their straight command.
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rel_forward_envsis documented to give envs "positive lin_vel_x, zero lin_vel_y and ang_vel_z" (#827). Butis_heading_envandis_world_envare sampled independently, and_update_commandrewritesvel_command_bevery step for both:rel_heading_envs=0.3,rel_forward_envs=0.2), about 30% of these envs are turned toward a random heading at up to 0.5 rad/s.rel_world_envs > 0, they can be commanded backwards or sideways.This clears both flags for
fwd_idsat resample time. Standing envs still take precedence. Side effect: the effective heading share drops fromrel_heading_envstorel_heading_envs * (1 - rel_forward_envs)(30% to 24% by default). If you would rather keep heading control withheading_targetset to the current heading, happy to switch.