From d45f647bf713c619c59f0cdc77204e095b095149 Mon Sep 17 00:00:00 2001 From: Bart Moyaers Date: Thu, 27 Jun 2019 11:26:24 +0200 Subject: [PATCH] make humanoid cyclecount available --- .../pybullet_envs/deep_mimic/env/humanoid_stable_pd.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py index aec33ed77..f93c9810f 100644 --- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py +++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py @@ -255,9 +255,9 @@ 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 @@ -295,9 +295,9 @@ 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()