Model migration questions about humanoid-gym

[zlw21gxy]

For optimal performance, kindly switch to our most recent main branch where we've addressed a bug issue, which should now function properly.

[zhangqingbo6]

After downloading the new project, I'm glad that issue has been resolved. But we have a question: Why does the input env.commands fluctuate and the robot cannot keep walking in a straight line during play. We have not made any modifications to the orange lines as follows:

[wangyenjen]

Hi @zhangqingbo6 ,

The input fluctuations occur because the system is programmed to randomly resample the command every 8 seconds, after which it switches to the default command specified in the play script. To ignore this behavior, you can modify the _resample_commands function within the environment.