Control humanoid velocity from config.

[0mdc]

Motivation and Context

WIP - Open for discussion.

In the current state of the code, the humanoid speed is capped by the estimated speed of the animation. This is cosmetic - it prevents the walking animation to have a gliding appearance. I believe that this comes from early VR integrations.

In practice, this means that the lin_speed config field has no effect past a certain value.

This brings the following issues:

• The humanoid speed is not driven by config.
• Many experiments must cherry-pick this hack to work as intended.
• In HITL, the humanoid is too slow, which greatly increases episode completion speed.

Proposed change:

• By default, the humanoid should follow lin_speed perfectly, like the other agent types.
  • This may impact training.

Proposed BE Improvements:

• To keep the animation in-sync with the humanoid velocity, the animation framerate should change.
• Refactors:
  • This class should get its configuration from a single source of truth.
  • Calculations should be simplified.

How Has This Been Tested

Tested on HITL application.

Types of changes

• [Development]

Checklist

• [ ] My code follows the code style of this project.
• [ ] I have updated the documentation if required.
• [ ] I have read the CONTRIBUTING document.
• [ ] I have completed my CLA (see CONTRIBUTING)
• [ ] I have added tests to cover my changes if required.