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make humanoid cyclecount available

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Bart Moyaers
2019-06-27 11:26:24 +02:00
parent 00158130ab
commit 293a76e879
1 changed files with 5 additions and 5 deletions
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10
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -229,9 +229,9 @@ class HumanoidStablePD(object):
keyFrameDuration = self._mocap_data.KeyFrameDuraction()
cycleTime = self.getCycleTime()
#print("self._motion_data.NumFrames()=",self._mocap_data.NumFrames())
self._cycleCount = self.calcCycleCount(t, cycleTime)
self.cycleCount = self.calcCycleCount(t, cycleTime)
#print("cycles=",cycles)
frameTime = t - self._cycleCount * cycleTime
frameTime = t - self.cycleCount * cycleTime
if (frameTime < 0):
frameTime += cycleTime
@@ -269,9 +269,9 @@ class HumanoidStablePD(object):
self.computeCycleOffset()
oldPos = self._poseInterpolator._basePos
self._poseInterpolator._basePos = [
oldPos[0] + self._cycleCount * self._cycleOffset[0],
oldPos[1] + self._cycleCount * self._cycleOffset[1],
oldPos[2] + self._cycleCount * self._cycleOffset[2]
oldPos[0] + self.cycleCount * self._cycleOffset[0],
oldPos[1] + self.cycleCount * self._cycleOffset[1],
oldPos[2] + self.cycleCount * self._cycleOffset[2]
]
pose = self._poseInterpolator.GetPose()