From 60acfc0d1826a0cd0474f8c5b84be30a1b711b30 Mon Sep 17 00:00:00 2001 From: apirrone Date: Tue, 5 Aug 2025 14:46:14 +0200 Subject: [PATCH] raw imu --- scripts/v2_rl_walk_mujoco.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/scripts/v2_rl_walk_mujoco.py b/scripts/v2_rl_walk_mujoco.py index 6c96caf..3e3fd0b 100644 --- a/scripts/v2_rl_walk_mujoco.py +++ b/scripts/v2_rl_walk_mujoco.py @@ -266,12 +266,12 @@ 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( [