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Humanoid Flagrun Harder, PyBullet version (request from Danijar)

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Fix duplicate ground in all Roboschool converted scenes.
Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)
This commit is contained in:
erwincoumans
2018-01-24 17:53:40 -08:00
parent b8362fff94
commit aba4671358
6 changed files with 33 additions and 12 deletions
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12
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -2,7 +2,7 @@ from .scene_stadium import SinglePlayerStadiumScene
from .env_bases import MJCFBaseBulletEnv
import numpy as np
import pybullet as p
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun, HumanoidFlagrunHarder
class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
@@ -160,10 +160,16 @@ class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
s.zero_at_running_strip_start_line = False
return s
class HumanoidFlagrunHarderBulletEnv(HumanoidFlagrunBulletEnv):
class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
random_lean = True # can fall on start
def __init__(self):
HumanoidFlagrunBulletEnv.__init__(self)
self.robot = HumanoidFlagrunHarder()
self.electricity_cost /= 4 # don't care that much about electricity, just stand up!
HumanoidBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
s = HumanoidBulletEnv.create_single_player_scene(self)
s.zero_at_running_strip_start_line = False
return s