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deep_mimic, read velocity from poseInterpolator, not kinematic model

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This fixes issue #2401
This commit is contained in:
Erwin Coumans
2019-11-29 08:05:54 -08:00
parent d9ab536682
commit 56d0b7a09a
1 changed files with 4 additions and 1 deletions
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5
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -807,7 +807,10 @@ class HumanoidStablePD(object):
rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model) rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model)
rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model) rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model)
linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model) linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model)
linVelKin, angVelKin = self._pybullet_client.getBaseVelocity(self._kin_model) #don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity
#see also issue https://github.com/bulletphysics/bullet3/issues/2401
linVelKin = self._poseInterpolator._baseLinVel
angVelKin = self._poseInterpolator._baseAngVel
root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin) root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin)
pose_err += root_rot_w * root_rot_err pose_err += root_rot_w * root_rot_err