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apirrone 2025-08-05 14:16:18 +02:00
parent de99f07477
commit 8433892a20
1 changed files with 8 additions and 6 deletions
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14
scripts/v2_rl_walk_mujoco.py
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@ -129,6 +129,7 @@ class RLWalk:
print("IMU data is None, skipping observation retrieval") print("IMU data is None, skipping observation retrieval")
return None return None
gravity = np.array(imu_data["orientation"]).reshape((3, 3)).T @ np.array([0, 0, -1]) gravity = np.array(imu_data["orientation"]).reshape((3, 3)).T @ np.array([0, 0, -1])
# accelero = np.array(imu_data["accelero"])
gyro = imu_data["gyro"] gyro = imu_data["gyro"]
dof_pos = self.hwi.get_present_positions( dof_pos = self.hwi.get_present_positions(
@ -162,6 +163,7 @@ class RLWalk:
obs = np.concatenate( obs = np.concatenate(
[ [
# accelero,
gyro, gyro,
gravity, gravity,
cmds, cmds,
@ -261,12 +263,12 @@ class RLWalk:
if obs is None: if obs is None:
continue continue
if np.linalg.norm(self.last_commands[:3]) > 0.1: # if np.linalg.norm(self.last_commands[:3]) > 0.1:
self.imitation_i += 1 * ( self.imitation_i += 1 * (
self.phase_frequency_factor + self.phase_frequency_factor_offset self.phase_frequency_factor + self.phase_frequency_factor_offset
) )
else: # else:
self.imitation_i = 0 # self.imitation_i = 0
self.imitation_i = self.imitation_i % self.PRM.nb_steps_in_period self.imitation_i = self.imitation_i % self.PRM.nb_steps_in_period
self.imitation_phase = np.array( self.imitation_phase = np.array(
[ [