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pybullet: improvements in Gym Ant environment (work-in-progress)

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This commit is contained in:
Erwin Coumans
2017-09-07 11:06:42 -07:00
parent 7a2de3ea08
commit 3d702879c5
5 changed files with 7 additions and 7 deletions
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examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -114,7 +114,7 @@ class Ant(WalkerBase):
foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
def __init__(self):
WalkerBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
WalkerBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=2.5)
def alive_bonus(self, z, pitch):
return +1 if z > 0.26 else -1 # 0.25 is central sphere rad, die if it scrapes the ground