From c95a3cc8e74531225dac32d0fb8f3e371447cd11 Mon Sep 17 00:00:00 2001 From: apirrone Date: Fri, 1 Aug 2025 12:05:41 +0200 Subject: [PATCH] action scale 0.25 --- scripts/v2_rl_walk_mujoco.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/v2_rl_walk_mujoco.py b/scripts/v2_rl_walk_mujoco.py index 6e6e569..931420e 100644 --- a/scripts/v2_rl_walk_mujoco.py +++ b/scripts/v2_rl_walk_mujoco.py @@ -261,7 +261,7 @@ class RLWalk: if obs is None: continue - if np.linalg.norm(self.last_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 )