direct and residual movement inconsistency fixed

2026-08-27 21:40:57 +02:00
parent cd870a4afc
commit 4cc2d37d94
8 changed files with 109 additions and 73 deletions
@@ -21,7 +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.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)),