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| author | ManifoldFR <manifoldfr@outlook.com> | 2020-07-06 16:56:24 +0200 |
|---|---|---|
| committer | ManifoldFR <manifoldfr@outlook.com> | 2020-07-06 16:56:24 +0200 |
| commit | a3810d15ef1a279cf7fcb413f1604dddd2e18805 (patch) | |
| tree | fdf35bc59876b8083eeba7f53bbb2308018cf441 | |
| parent | 2fe3fe945d20fb2dcb61bfba54cae3700da9075a (diff) | |
| download | bullet3-a3810d15ef1a279cf7fcb413f1604dddd2e18805.tar.gz | |
fix setting useComReward=false
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py | 3 |
1 files changed, 2 insertions, 1 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 79e4cde50..30d607734 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 @@ -925,7 +925,8 @@ class HumanoidStablePD(object): root_err = root_pos_err + 0.1 * root_rot_err + 0.01 * root_vel_err + 0.001 * root_ang_vel_err # COM error in initial code -> COM velocities - com_err = 0.1 * np.sum(np.square(comKinVel - comSimVel)) + if self._useComReward: + com_err = 0.1 * np.sum(np.square(comKinVel - comSimVel)) # com_err = 0.1 * np.sum(np.square(comKin - comSim)) #com_err = 0.1 * (com_vel1_world - com_vel0_world).squaredNorm() |