fix testlaikago and pd_controller_stable

2019-06-06 21:54:22 +00:00
parent 093986f1ee
commit 6ab09fe06e
2 changed files with 12 additions and 7 deletions
--- a/examples/pybullet/gym/pybullet_utils/pd_controller_stable.py
+++ b/examples/pybullet/gym/pybullet_utils/pd_controller_stable.py
@@ -227,6 +227,6 @@ class PDControllerStable(object):
    qddot = np.linalg.solve(A, b)
    tau = p + d - Kd.dot(qddot) * timeStep
    maxF = np.array(maxForces)
-    forces = np.clip(tau, -maxF, maxF)
+    tau = np.clip(tau, -maxF, maxF)
    #print("c=",c)
    return tau