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Fix minor errors mentioned in #48. #49

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Fix minor errors mentioned in #48. #49

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5 changes: 3 additions & 2 deletions humanoidverse/envs/motion_tracking/motion_tracking.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down Expand Up @@ -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
Expand Down