ang vel

kscalelabs · Feb 6, 2025 · 26d3ef2 · 26d3ef2
1 parent 72cd252
commit 26d3ef2
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/sim/sim2sim.py b/sim/sim2sim.py
@@ -201,7 +201,7 @@ def run_mujoco(
         "prev_actions.1": np.zeros(model_info["num_actions"]).astype(np.float32),
         # "imu_euler_xyz.1": np.zeros(3).astype(np.float32),
         "projected_gravity.1": np.zeros(3).astype(np.float32),
-        # "imu_ang_vel.1": np.zeros(3).astype(np.float32),
+        "imu_ang_vel.1": np.zeros(3).astype(np.float32),
         "buffer.1": np.zeros(model_info["num_observations"]).astype(np.float32),
     }
 
@@ -279,6 +279,7 @@ def run_mujoco(
         tau = np.clip(tau, -tau_limit, tau_limit)  # Clamp torques
 
         data.ctrl = tau
+
         mujoco.mj_step(model, data)
 
         if render: