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Merge pull request #1762 from alexis-jacq/patch-2

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isAlive method forcing done=False for halfcheetah
This commit is contained in:
erwincoumans
2018-06-16 05:32:42 -07:00
committed by GitHub
parent 997211650e 6adea4964f
commit c9bbd80dc0
1 changed files with 10 additions and 5 deletions
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15
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -40,6 +40,9 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
return r return r
def _isDone(self):
return self._alive < 0
def move_robot(self, init_x, init_y, init_z): def move_robot(self, init_x, init_y, init_z):
"Used by multiplayer stadium to move sideways, to another running lane." "Used by multiplayer stadium to move sideways, to another running lane."
self.cpp_robot.query_position() self.cpp_robot.query_position()
@@ -60,8 +63,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
state = self.robot.calc_state() # also calculates self.joints_at_limit state = self.robot.calc_state() # also calculates self.joints_at_limit
alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch self._alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
done = alive < 0 done = self._isDone()
if not np.isfinite(state).all(): if not np.isfinite(state).all():
print("~INF~", state) print("~INF~", state)
done = True done = True
@@ -89,7 +92,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
debugmode=0 debugmode=0
if(debugmode): if(debugmode):
print("alive=") print("alive=")
print(alive) print(self._alive)
print("progress") print("progress")
print(progress) print(progress)
print("electricity_cost") print("electricity_cost")
@@ -100,7 +103,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
print(feet_collision_cost) print(feet_collision_cost)
self.rewards = [ self.rewards = [
alive, self._alive,
progress, progress,
electricity_cost, electricity_cost,
joints_at_limit_cost, joints_at_limit_cost,
@@ -136,6 +139,9 @@ class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
self.robot = HalfCheetah() self.robot = HalfCheetah()
WalkerBaseBulletEnv.__init__(self, self.robot) WalkerBaseBulletEnv.__init__(self, self.robot)
def _isDone(self):
return False
class AntBulletEnv(WalkerBaseBulletEnv): class AntBulletEnv(WalkerBaseBulletEnv):
def __init__(self): def __init__(self):
self.robot = Ant() self.robot = Ant()
@@ -172,4 +178,3 @@ class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client) s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
s.zero_at_running_strip_start_line = False s.zero_at_running_strip_start_line = False
return s return s