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apirrone 2025-08-11 11:00:42 +02:00
parent 9ff8fd3834
commit 1e8e063eff
1 changed files with 6 additions and 6 deletions
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12
scripts/v2_rl_walk_mujoco.py
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@ -274,12 +274,12 @@ class RLWalk:
if obs is None:
continue
if np.linalg.norm(self.last_commands[:3]) > 0.1:
self.imitation_i += 1 * (
self.phase_frequency_factor + self.phase_frequency_factor_offset
)
else:
self.imitation_i = 0
# if np.linalg.norm(self.last_commands[:3]) > 0.1:
self.imitation_i += 1 * (
self.phase_frequency_factor + self.phase_frequency_factor_offset
)
# else:
# self.imitation_i = 0
self.imitation_i = self.imitation_i % self.PRM.nb_steps_in_period
self.imitation_phase = np.array(
[