Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

BulletInverseDynaimcs: re-applied fix

Browse Source 
PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)
This commit is contained in:
Erwin Coumans
2018-01-16 21:54:46 -08:00
parent df89ce6f92
commit c6a350b807
2 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/pybullet/gym/pybullet_envs/agents/configs.py
View File

@@ -124,7 +124,7 @@ def pybullet_humanoid():
randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer()) randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
env = 'HumanoidBulletEnv-v0' env = 'HumanoidBulletEnv-v0'
max_length = 1000 max_length = 1000
steps = 3e7 # 30M steps = 3e8 # 300M
return locals() return locals()

4
src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
View File

@@ -49,9 +49,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
class vecx : public btVectorX<idScalar> { class vecx : public btVectorX<idScalar> {
public: public:
vecx(int size) : btVectorX(size) {} vecx(int size) : btVectorX<idScalar>(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) { const vecx& operator=(const btVectorX<idScalar>& rhs) {
*static_cast<btVectorX*>(this) = rhs; *static_cast<btVectorX<idScalar>*>(this) = rhs;
return *this; return *this;
} }