Merge pull request #2 from kscalelabs/pawel/pasta_fixes

fix pasta comments

sim/humanoid_gym/envs/getup_env.py

@@ -319,13 +319,8 @@ def _reward_base_height(self):
         The reward is computed based on the height difference between the robot's base and the average height
         of its feet when they are in contact with the ground.
         """
-        # TODO pfb30 - adjust that based on the body
         base_height = self.root_states[:, 2] - default_feet_height
-        reward = torch.exp(
-            -torch.abs(base_height - self.cfg.rewards.base_height_target) * 100
-        )
-        # print(reward, base_height - self.cfg.rewards.base_height_target, base_height)
-        # print(base_height)
+
         return base_height
 
     def _reward_base_acc(self):

sim/humanoid_gym/envs/legs_env.py

@@ -69,7 +69,6 @@ def __init__(
                 env_handle, actor_handle, joint
             )
             self.legs_joints["right_" + name] = joint_handle
-        breakpoint()
         self.compute_observations()
 
     def _push_robots(self):

sim/humanoid_gym/play.py

@@ -47,7 +47,7 @@ def play(args: argparse.Namespace) -> None:
     logger = Logger(env.dt)
     robot_index = 0  # which robot is used for logging
     joint_index = 1  # which joint is used for logging
-    stop_state_log = 200  # number of steps before plotting states
+    stop_state_log = 1200  # number of steps before plotting states
 
     if RENDER:
         camera_properties = gymapi.CameraProperties()