rafaelcaricio/Open_Duck_Mini_Runtime
1
0
Fork 0
mirror of https://github.com/apirrone/Open_Duck_Mini_Runtime.git synced 2025-09-06 05:57:57 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

head mix

Browse source
This commit is contained in:
apirrone 2025-04-07 12:36:46 +02:00
parent af8d983c4d
commit c04594bf32
1 changed files with 2 additions and 1 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
scripts/v2_rl_walk_mujoco.py
View file

@ -289,9 +289,10 @@ class RLWalk:
): # give time to the filter to stabilize
self.motor_targets = filtered_motor_targets
self.prev_motor_targets = self.motor_targets.copy()
head_motor_targets = self.last_commands[3:] + self.motor_targets[5:9]
self.motor_targets[5:9] = head_motor_targets
self.prev_motor_targets = self.motor_targets.copy()
action_dict = make_action_dict(self.motor_targets, joints_order)