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apirrone 2025-08-01 12:05:41 +02:00
parent 63a92f414c
commit c95a3cc8e7
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scripts/v2_rl_walk_mujoco.py
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@ -261,7 +261,7 @@ class RLWalk:
if obs is None: if obs is None:
continue 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.imitation_i += 1 * (
self.phase_frequency_factor + self.phase_frequency_factor_offset self.phase_frequency_factor + self.phase_frequency_factor_offset
) )