pretrain logic and small fixes

2026-08-07 14:32:35 +02:00
parent a1eb7b8573
commit 3e6e40f0c5
8 changed files with 324 additions and 125 deletions
@@ -220,8 +220,8 @@ class Robot:
            return

        self.gait_phase = (self.gait_phase + 0.22) % (2.0 * math.pi)
-        stride_len = 0.045
-        step_height = 0.035
+        stride_len = cfg.step_length
+        step_height = cfg.step_height

        center_data = (
            self.center_points.data if hasattr(self.center_points, 'data') else np.array(self.center_points)