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more fixes in Gym Ant to make reward the same as Roboschool,

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apparently feet_collision_cost is not properly updated in Roboschool,
for now, disable it in pybullet too: see https://github.com/openai/roboschool/issues/63
This commit is contained in:
Erwin Coumans
2017-09-09 12:36:53 -07:00
parent c144d9c045
commit 4f47a223ef
5 changed files with 48 additions and 13 deletions
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10
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -62,6 +62,16 @@ class WalkerBase(MJCFBasedRobot):
def calc_potential(self):
# progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
# all rewards have rew/frame units and close to 1.0
debugmode=0
if (debugmode):
print("calc_potential: self.walk_target_dist")
print(self.walk_target_dist)
print("self.scene.dt")
print(self.scene.dt)
print("self.scene.frame_skip")
print(self.scene.frame_skip)
print("self.scene.timestep")
print(self.scene.timestep)
return - self.walk_target_dist / self.scene.dt