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apirrone 2025-08-01 12:02:22 +02:00
parent b79c2ec6d3
commit c0a466ceb7
1 changed files with 6 additions and 3 deletions
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9
scripts/v2_rl_walk_mujoco.py
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@ -261,9 +261,12 @@ class RLWalk:
if obs is None:
continue
self.imitation_i += 1 * (
self.phase_frequency_factor + self.phase_frequency_factor_offset
)
if np.linalg.norm(self.commands[3:]) > 0.01:
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(
[