rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-03-24 12:24:55 +01:00
parent a62b92a363
commit bb506f9e66
2 changed files with 8 additions and 8 deletions
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3
mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
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@ -7,13 +7,12 @@ import numpy as np
X_RANGE = [-0.15, 0.15]
Y_RANGE = [-0.2, 0.2]
YAW_RANGE = [-0.5, 0.5]
YAW_RANGE = [-1.0, 1.0]
# rads
NECK_PITCH_RANGE = [-0.34, 1.1]
HEAD_PITCH_RANGE = [-0.78, 0.78]
HEAD_YAW_RANGE = [-2.7, 2.7]
HEAD_YAW_RANGE = [-1.7, 1.7]
HEAD_ROLL_RANGE = [-0.5, 0.5]

13
scripts/v2_rl_walk_mujoco.py
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@ -185,10 +185,10 @@ class RLWalk:
feet_contacts = self.feet_contacts.get()
if not self.standing:
ref = self.PRM.get_reference_motion(*cmds[:3], self.imitation_i)
else:
ref = np.array([])
# if not self.standing:
# ref = self.PRM.get_reference_motion(*cmds[:3], self.imitation_i)
# else:
# ref = np.array([])
obs = np.concatenate(
[
@ -203,7 +203,8 @@ class RLWalk:
self.last_last_last_action,
self.motor_targets,
feet_contacts,
ref,
# ref,
[self.imitation_i]
]
)
@ -264,7 +265,7 @@ class RLWalk:
if not self.standing:
self.imitation_i += 1
self.imitation_i = self.imitation_i % 450
self.imitation_i = self.imitation_i % self.PRM.nb_steps_in_period
self.saved_obs.append(obs)