bump (including force)

jonas-eschmann · jonas-eschmann · commit 0916659878dc · 2025-03-26T17:29:27.000-04:00
diff --git a/blob b/blob
@@ -1 +1 @@
-Subproject commit 1bd46f563302741b6a243de6a410ac2d9036194e
+Subproject commit e7b25aa268c32af48b5eb8b3432e12ab785b1b7e
diff --git a/index.js b/index.js
@@ -152,6 +152,7 @@ async function load_model(checkpoint){
     checkpoint_span.title = model.description()
     document.getElementById("observations").value = model.meta.environment.observation
     document.getElementById("observations").observation = model.meta.environment.observation
+    proxy_controller.reset()
 }
 
 async function main(){
diff --git a/wasm/environment.h b/wasm/environment.h
@@ -109,7 +109,7 @@ namespace builder{
         static constexpr TI ANGULAR_VELOCITY_HISTORY = 5;
         static constexpr TI ANGULAR_VELOCITY_DELAY = 0;
         using STATE_BASE = StateAngularVelocityDelay<StateAngularVelocityDelaySpecification<T, TI, ANGULAR_VELOCITY_HISTORY, StateLastAction<StateSpecification<T, TI, StateBase<StateSpecification<T, TI>>>>>>;
-        using STATE_TYPE = StateRotorsHistory<StateRotorsHistorySpecification<T, TI, ACTION_HISTORY_LENGTH, CLOSED_FORM, StateRandomForce<StateSpecification<T, TI, STATE_BASE>>>>;
+        using STATE_TYPE = StateRandomForce<StateSpecification<T, TI, StateRotorsHistory<StateRotorsHistorySpecification<T, TI, ACTION_HISTORY_LENGTH, CLOSED_FORM, StateRandomForce<StateSpecification<T, TI, STATE_BASE>>>>>>;
         using OBSERVATION_TYPE = observation::Position<observation::PositionSpecification<T, TI,
                 observation::OrientationRotationMatrix<observation::OrientationRotationMatrixSpecification<T, TI,
                 observation::LinearVelocity<observation::LinearVelocitySpecification<T, TI,

Original file line number	Diff line number	Diff line change
`@@ -152,6 +152,7 @@ async function load_model(checkpoint){`
`152`	`152`	`checkpoint_span.title = model.description()`
`153`	`153`	`document.getElementById("observations").value = model.meta.environment.observation`
`154`	`154`	`document.getElementById("observations").observation = model.meta.environment.observation`
	`155`	`+ proxy_controller.reset()`
`155`	`156`	`}`
`156`	`157`
`157`	`158`	`async function main(){`