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isDone instead of isAlive

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Alexis David Jacq
2018-06-16 13:53:05 +02:00
committed by GitHub
parent 292a3f1cf6
commit 50b5edd7b5
1 changed files with 6 additions and 6 deletions
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12
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -40,8 +40,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
return r return r
def _isAlive(self): def _isDone(self):
return self._alive > 0 return self._alive < 0
def move_robot(self, init_x, init_y, init_z): def move_robot(self, init_x, init_y, init_z):
"Used by multiplayer stadium to move sideways, to another running lane." "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 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 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(): if not np.isfinite(state).all():
print("~INF~", state) print("~INF~", state)
done = True done = True
@@ -103,7 +103,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
print(feet_collision_cost) print(feet_collision_cost)
self.rewards = [ self.rewards = [
alive, self._alive,
progress, progress,
electricity_cost, electricity_cost,
joints_at_limit_cost, joints_at_limit_cost,
@@ -139,8 +139,8 @@ class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
self.robot = HalfCheetah() self.robot = HalfCheetah()
WalkerBaseBulletEnv.__init__(self, self.robot) WalkerBaseBulletEnv.__init__(self, self.robot)
def _isAlive(self): def _isDone(self):
return True return False
class AntBulletEnv(WalkerBaseBulletEnv): class AntBulletEnv(WalkerBaseBulletEnv):
def __init__(self): def __init__(self):