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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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8
examples/pybullet/gym/pybullet_envs/scene_abstract.py
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@@ -12,8 +12,9 @@ class Scene:
self.np_random, seed = gym.utils.seeding.np_random(None)
self.timestep = timestep
self.frame_skip = frame_skip
self.dt = self.timestep * self.frame_skip
self.cpp_world = World(gravity, timestep)
self.cpp_world = World(gravity, timestep, frame_skip)
#self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
#self.big_caption = self.cpp_world.test_window_big_caption # that's a function you can call
@@ -60,16 +61,17 @@ class SingleRobotEmptyScene(Scene):
class World:
def __init__(self, gravity, timestep):
def __init__(self, gravity, timestep, frame_skip):
self.gravity = gravity
self.timestep = timestep
self.frame_skip = frame_skip
self.clean_everything()
def clean_everything(self):
p.resetSimulation()
p.setGravity(0, 0, -self.gravity)
p.setDefaultContactERP(0.9)
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=4)
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep*self.frame_skip, numSolverIterations=5, numSubSteps=self.frame_skip)
def step(self, frame_skip):
p.stepSimulation()