From 125380ce15101409c0746f58d3eecb1738cf8e6d Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 9 Sep 2017 22:35:48 -0700 Subject: [PATCH] revert feet related reward in ant --- examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py index afa592a50..f9f8b1bb1 100644 --- a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py +++ b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py @@ -66,7 +66,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv): #print("CONTACT OF '%d' WITH %d" % (contact_ids, ",".join(contact_names)) ) if (self.ground_ids & contact_ids): #see Issue 63: https://github.com/openai/roboschool/issues/63 - feet_collision_cost += self.foot_collision_cost + #feet_collision_cost += self.foot_collision_cost self.robot.feet_contact[i] = 1.0 else: self.robot.feet_contact[i] = 0.0