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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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9
examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -25,12 +25,13 @@ class StadiumScene(Scene):
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadSDF(filename)
self.ground_plane_mjcf = p.loadMJCF(planeName, flags=p.URDF_USE_SELF_COLLISION|p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
for j in range(p.getNumJoints(i)):
p.changeDynamics(i,j,lateralFriction=0)
#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
class SinglePlayerStadiumScene(StadiumScene):
"This scene created by environment, to work in a way as if there was no concept of scene visible to user."