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raw imu

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apirrone 2025-08-05 14:32:22 +02:00
parent 8433892a20
commit cb2fa40aff
1 changed files with 6 additions and 6 deletions
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12
scripts/v2_rl_walk_mujoco.py
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@ -5,8 +5,8 @@ import numpy as np
from mini_bdx_runtime.rustypot_position_hwi import HWI
from mini_bdx_runtime.onnx_infer import OnnxInfer
# from mini_bdx_runtime.raw_imu import Imu
from mini_bdx_runtime.imu import Imu
from mini_bdx_runtime.raw_imu import Imu
# from mini_bdx_runtime.imu import Imu
from mini_bdx_runtime.poly_reference_motion import PolyReferenceMotion
from mini_bdx_runtime.xbox_controller import XBoxController
from mini_bdx_runtime.feet_contacts import FeetContacts
@ -128,8 +128,8 @@ class RLWalk:
if imu_data is None:
print("IMU data is None, skipping observation retrieval")
return None
gravity = np.array(imu_data["orientation"]).reshape((3, 3)).T @ np.array([0, 0, -1])
# accelero = np.array(imu_data["accelero"])
# gravity = np.array(imu_data["orientation"]).reshape((3, 3)).T @ np.array([0, 0, -1])
accelero = np.array(imu_data["accelero"])
gyro = imu_data["gyro"]
dof_pos = self.hwi.get_present_positions(
@ -163,9 +163,9 @@ class RLWalk:
obs = np.concatenate(
[
# accelero,
accelero,
gyro,
gravity,
# gravity,
cmds,
dof_pos - self.init_pos,
dof_vel * self.dof_vel_scale,