Small fix to go1 joystick privileged state. Fixes #55.

PiperOrigin-RevId: 726651064 Change-Id: I8742728347c15ad9377cd062646a0e178930d004
google-deepmind · Feb 13, 2025 · 0fb7bbd · 0fb7bbd
1 parent 254c38f
commit 0fb7bbd
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mujoco_playground/_src/locomotion/go1/joystick.py b/mujoco_playground/_src/locomotion/go1/joystick.py
@@ -362,7 +362,7 @@ def _get_obs(
         linvel,  # 3
         angvel,  # 3
         joint_angles - self._default_pose,  # 12
-        noisy_joint_vel,  # 12
+        joint_vel,  # 12
         data.actuator_force,  # 12
         info["last_contact"],  # 4
         feet_vel,  # 4*3