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Merge pull request #2454 from krishpop/patch-1

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Fix call to convert_to_leg_model
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erwincoumans 2019-10-29 21:16:01 -07:00 committed by GitHub
commit 959a48a1a0
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1 changed files with 2 additions and 2 deletions
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examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py
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@ -122,7 +122,7 @@ class MinitaurExtendedEnv(MinitaurReactiveEnv):
leg_model = [] leg_model = []
if self._include_leg_model: if self._include_leg_model:
raw_motor_angles = self.minitaur.GetMotorAngles() raw_motor_angles = self.minitaur.GetMotorAngles()
leg_model = self._convert_to_leg_model(raw_motor_angles) leg_model = self.convert_to_leg_model(raw_motor_angles)
observation_list = ( observation_list = (
[parent_observation] + history_states + history_actions + [parent_observation] + history_states + history_actions +
@ -185,7 +185,7 @@ class MinitaurExtendedEnv(MinitaurReactiveEnv):
if self._never_terminate: if self._never_terminate:
return False return False
leg_model = self._convert_to_leg_model(self.minitaur.GetMotorAngles()) leg_model = self.convert_to_leg_model(self.minitaur.GetMotorAngles())
swing0 = leg_model[0] swing0 = leg_model[0]
swing1 = leg_model[2] swing1 = leg_model[2]
maximum_swing_angle = 0.8 maximum_swing_angle = 0.8