From c84ec04c7abc132475f11a2d25ec383bab14248e Mon Sep 17 00:00:00 2001 From: HexLab-R9000P <2205929492@qq.com> Date: Fri, 30 May 2025 11:48:15 +0800 Subject: [PATCH] fix: minor errors --- humanoidverse/envs/motion_tracking/motion_tracking.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/humanoidverse/envs/motion_tracking/motion_tracking.py b/humanoidverse/envs/motion_tracking/motion_tracking.py index cf3492eb..b2ab7bb5 100644 --- a/humanoidverse/envs/motion_tracking/motion_tracking.py +++ b/humanoidverse/envs/motion_tracking/motion_tracking.py @@ -5,7 +5,7 @@ from humanoidverse.envs.legged_base_task.legged_robot_base import LeggedRobotBase from isaac_utils.rotations import ( my_quat_rotate, - quat_to_tan_norm, + # quat_to_tan_norm, calc_heading_quat_inv, calc_heading_quat, quat_mul, @@ -610,7 +610,8 @@ def _reward_teleop_body_position_feet(self): return r_feet def _reward_teleop_body_rotation_extend(self): - rotation_diff = quat_to_angle_axis(self.dif_global_body_rot, w_last=True)[0] + # rotation_diff = quat_to_angle_axis(self.dif_global_body_rot, w_last=True)[0] + rotation_diff = quat_to_angle_axis(self.dif_global_body_rot)[0] diff_body_rot_dist = (rotation_diff**2).mean(dim=-1) r_body_rot = torch.exp(-diff_body_rot_dist / self.config.rewards.reward_tracking_sigma.teleop_body_rot) return r_body_rot