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fixes in minitaur leg mapping

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This commit is contained in:
Erwin Coumans
2018-04-11 18:13:46 -07:00
parent 2bc246b0b1
commit 40b285ebfd
1 changed files with 3 additions and 3 deletions
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6
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env.py
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@@ -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):