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apirrone 2025-08-01 12:04:22 +02:00
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commit 63a92f414c
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scripts/v2_rl_walk_mujoco.py
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@ -261,7 +261,7 @@ class RLWalk:
if obs is None:
continue
if np.linalg.norm(self.commands[3:]) > 0.01:
if np.linalg.norm(self.last_commands[3:]) > 0.01:
self.imitation_i += 1 * (
self.phase_frequency_factor + self.phase_frequency_factor_offset
)