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Initial side step fix #1808

Merged
merged 3 commits into from
Mar 24, 2025
Merged

Initial side step fix #1808

merged 3 commits into from
Mar 24, 2025

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schluis
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@schluis schluis commented Mar 18, 2025

Why? What?

  • Currently, the initial side bonus is directly applied to steps, not only the max_step_size
  • This makes no sense
  • Further improvement: the initial side bonus is only applied, if the step before was a zero step, i.e. the robot stood still

How to Test

  • Let it walk and have a look at the additional output max_step_size and check if that makes sense

@schluis schluis enabled auto-merge March 18, 2025 13:51
@schluis schluis added this pull request to the merge queue Mar 24, 2025
Merged via the queue into HULKs:main with commit 5e6328a Mar 24, 2025
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@schluis schluis deleted the side-step-fuckup-fix branch March 24, 2025 16:37
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@schmidma schmidma schmidma approved these changes

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