diff --git a/scripts/gyms/Walk.py b/scripts/gyms/Walk.py
index 9bee12b..cebc8df 100755
--- a/scripts/gyms/Walk.py
+++ b/scripts/gyms/Walk.py
@@ -554,7 +554,7 @@ class WalkEnv(gym.Env):
 
         # Encourage active/varied knee motions early in training without dominating progress reward.
         left_knee_act = float(action[14])
-        right_knee_act = -float(action[20])
+        right_knee_act = float(action[20])
         left_knee_delta = abs(left_knee_act - float(self.last_action_for_reward[14]))
         right_knee_delta = abs(right_knee_act - float(self.last_action_for_reward[20]))
         knee_action_mag = 0.5 * (abs(left_knee_act) + abs(right_knee_act))
@@ -663,6 +663,8 @@ class WalkEnv(gym.Env):
         # Boost knee command range so policy can produce visible knee flexion earlier.
         # action[14] = np.clip(action[14] * 1.1, -10.0, 10.0)
         # action[20] = np.clip(action[20] * 1.1, -10.0, 10.0)
+        # action[14] = 1 # the correct left knee sign
+        # action[20] = -1 # the correct right knee sign
         # action[11] = 1
         # action[17] = 1
         # action[12] = -0.01