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DeepMimic: Make COM reward optional

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This commit is contained in:
ManifoldFR
2020-07-06 16:47:22 +02:00
parent 53a3af8918
commit 2fe3fe945d
1 changed files with 5 additions and 5 deletions
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10
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -21,7 +21,7 @@ jointFrictionForce = 0
class HumanoidStablePD(object):
def __init__( self, pybullet_client, mocap_data, timeStep,
useFixedBase=True, arg_parser=None):
useFixedBase=True, arg_parser=None, useComReward=True):
self._pybullet_client = pybullet_client
self._mocap_data = mocap_data
self._arg_parser = arg_parser
@@ -149,7 +149,7 @@ class HumanoidStablePD(object):
self._totalDofs += dof
self.setSimTime(0)
self._useComReward = True
self._useComReward = useComReward
self.resetPose()
@@ -790,8 +790,9 @@ class HumanoidStablePD(object):
#tMatrix kin_origin_trans = kin_char.BuildOriginTrans();
#
#tVector com0_world = sim_char.CalcCOM();
comSim, comSimVel = self.computeCOMposVel(self._sim_model)
comKin, comKinVel = self.computeCOMposVel(self._kin_model)
if self._useComReward:
comSim, comSimVel = self.computeCOMposVel(self._sim_model)
comKin, comKinVel = self.computeCOMposVel(self._kin_model)
#tVector com_vel0_world = sim_char.CalcCOMVel();
#tVector com1_world;
#tVector com_vel1_world;
@@ -967,7 +968,6 @@ class HumanoidStablePD(object):
def computeCOMposVel(self, uid: int):
"""Compute center-of-mass position and velocity."""
pb = self._pybullet_client
root_pos, _ = pb.getBasePositionAndOrientation(uid)
num_joints = 15
jointIndices = range(num_joints)
link_states = pb.getLinkStates(uid, jointIndices, computeLinkVelocity=1)