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revert feet related reward in ant

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Erwin Coumans
2017-09-09 22:35:48 -07:00
parent de28334a70
commit 125380ce15
1 changed files with 1 additions and 1 deletions
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examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -66,7 +66,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
#print("CONTACT OF '%d' WITH %d" % (contact_ids, ",".join(contact_names)) ) #print("CONTACT OF '%d' WITH %d" % (contact_ids, ",".join(contact_names)) )
if (self.ground_ids & contact_ids): if (self.ground_ids & contact_ids):
#see Issue 63: https://github.com/openai/roboschool/issues/63 #see Issue 63: https://github.com/openai/roboschool/issues/63
feet_collision_cost += self.foot_collision_cost #feet_collision_cost += self.foot_collision_cost
self.robot.feet_contact[i] = 1.0 self.robot.feet_contact[i] = 1.0
else: else:
self.robot.feet_contact[i] = 0.0 self.robot.feet_contact[i] = 0.0