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PyBullet pybullet_envs: fix issue with Humanoid environments (excessive forces, due to lack of action clamping)

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PyBullet pybullet_envs: use 1./60 sleep, add enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
This commit is contained in:
Erwin Coumans
2018-01-24 16:02:19 -08:00
parent c7314dad31
commit b8362fff94
12 changed files with 536 additions and 14 deletions
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5
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -184,8 +184,7 @@ class Humanoid(WalkerBase):
assert( np.isfinite(a).all() )
force_gain = 1
for i, m, power in zip(range(17), self.motors, self.motor_power):
m.set_motor_torque( float(force_gain * power*self.power*a[i]) )
#m.set_motor_torque(float(force_gain * power * self.power * np.clip(a[i], -1, +1)))
m.set_motor_torque(float(force_gain * power * self.power * np.clip(a[i], -1, +1)))
def alive_bonus(self, z, pitch):
return +2 if z > 0.78 else -1 # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying
@@ -231,7 +230,7 @@ class HumanoidFlagrun(Humanoid):
p.resetBasePositionAndOrientation(self.flag.bodies[0],[self.walk_target_x, self.walk_target_y, 0.7],[0,0,0,1])
else:
self.flag = get_sphere(self.walk_target_x, self.walk_target_y, 0.7)
self.flag_timeout = 200
self.flag_timeout = 600/self.scene.frame_skip #match Roboschool
def calc_state(self):
self.flag_timeout -= 1