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Reward for walking symmetry? #26

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henri123lemoine opened this issue Nov 12, 2024 · 0 comments

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henri123lemoine commented Nov 12, 2024

Greater penalty for asymmetrical gait cycle time.
Rewarding matching relative position buffer for right step vs left step. As in, compute some sort of axe of symmetry based on the torso pos/angle and ensure that movements match on both sides.

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