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apirrone 2025-08-01 10:35:36 +02:00
parent 992a093223
commit 47486650fc
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scripts/v2_rl_walk_mujoco.py
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@ -128,7 +128,7 @@ class RLWalk:
if imu_data is None:
print("IMU data is None, skipping observation retrieval")
return None
gravity = imu_data["orientation"] @ np.array([0, 0, -1])
gravity = np.array(imu_data["orientation"]).reshape((3, 3)).T @ np.array([0, 0, -1])
gyro = imu_data["gyro"]
dof_pos = self.hwi.get_present_positions(