adds a fix for pushing root velocity

isaac-sim · Dec 22, 2024 · 92f2b8c · 92f2b8c
1 parent dd044a4
commit 92f2b8c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py
@@ -628,7 +628,7 @@ def push_by_setting_velocity(
     # sample random velocities
     range_list = [velocity_range.get(key, (0.0, 0.0)) for key in ["x", "y", "z", "roll", "pitch", "yaw"]]
     ranges = torch.tensor(range_list, device=asset.device)
-    vel_w[:] = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], vel_w.shape, device=asset.device)
+    vel_w += math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], vel_w.shape, device=asset.device)
     # set the velocities into the physics simulation
     asset.write_root_com_velocity_to_sim(vel_w, env_ids=env_ids)