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
@@ -21,6 +21,7 @@ def evaluate_kinematics(episode_length: int = 1000):
    print("=" * 70 + "\n")

    phase_configs = [
+        (CurriculumPhase.STAND_ONLY,           "STAND",              np.array([1.0, 0.0, 0.0], dtype=np.float32)),
        (CurriculumPhase.FORWARD,             "FORWARD GAIT",        np.array([1.0, 0.0, 0.0], dtype=np.float32)),
        (CurriculumPhase.TURN_AND_DIRECTION,  "FORWARD + YAW TURN",  np.array([0.5, 0.0, 0.4], dtype=np.float32)),
        (CurriculumPhase.OMNI_DIRECTION,      "STRIDE LATERAL",      np.array([0.5, 0.5, 0.0], dtype=np.float32)),