From 40b285ebfdb562b8d59cee30ae5cac631b83ed57 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 11 Apr 2018 18:13:46 -0700 Subject: [PATCH] fixes in minitaur leg mapping --- .../pybullet_envs/minitaur/envs/minitaur_reactive_env.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py index 6b2c5f884..dc3a02897 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py @@ -144,9 +144,9 @@ class MinitaurReactiveEnv(minitaur_gym_env.MinitaurGymEnv): def _convert_from_leg_model(self, leg_pose): motor_pose = np.zeros(NUM_MOTORS) for i in range(NUM_LEGS): - motor_pose[2 * i] = leg_pose[NUM_LEGS + i] - (-1)**(i / 2) * leg_pose[i] - motor_pose[2 * i + 1] = ( - leg_pose[NUM_LEGS + i] + (-1)**(i / 2) * leg_pose[i]) + motor_pose[int(2 * i)] = leg_pose[NUM_LEGS + i] - (-1)**int(i / 2) * leg_pose[i] + motor_pose[int(2 * i + 1)] = ( + leg_pose[NUM_LEGS + i] + (-1)**int(i / 2) * leg_pose[i]) return motor_pose def _signal(self, t):