From 50b5edd7b5e2fad40e3752188ff0efb413b6f804 Mon Sep 17 00:00:00 2001
From: Alexis David Jacq <alexis.jacq@gmail.com>
Date: Sat, 16 Jun 2018 13:53:05 +0200
Subject: [PATCH] isDone instead of isAlive

---
 .../gym/pybullet_envs/gym_locomotion_envs.py         | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
index 453b0e781..68b355a13 100644
--- a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
+++ b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
@@ -40,8 +40,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
 		
 		return r
 	
-	def _isAlive(self):
-		return self._alive > 0
+	def _isDone(self):
+		return self._alive < 0
 
 	def move_robot(self, init_x, init_y, init_z):
 		"Used by multiplayer stadium to move sideways, to another running lane."
@@ -64,7 +64,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
 		state = self.robot.calc_state()  # also calculates self.joints_at_limit
 
 		self._alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1]))   # state[0] is body height above ground, body_rpy[1] is pitch
-		done = not self._isAlive()
+		done = self._isAlive()
 		if not np.isfinite(state).all():
 			print("~INF~", state)
 			done = True
@@ -103,7 +103,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
 			print(feet_collision_cost)
 
 		self.rewards = [
-			alive,
+			self._alive,
 			progress,
 			electricity_cost,
 			joints_at_limit_cost,
@@ -139,8 +139,8 @@ class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
 		self.robot = HalfCheetah()
 		WalkerBaseBulletEnv.__init__(self, self.robot)
 		
-	def _isAlive(self):
-		return True
+	def _isDone(self):
+		return False
 
 class AntBulletEnv(WalkerBaseBulletEnv):
 	def __init__(self):