From cb6914fa4ce0a3a0b0d9a35830341cf76ac45467 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 24 Aug 2017 13:33:45 -0700 Subject: [PATCH] use better defauls values for minitaur --- .../pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py index 754287426..dcdcc5aa5 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py @@ -48,13 +48,13 @@ class MinitaurBulletEnv(gym.Env): observation_noise_stdev=0.0, self_collision_enabled=True, motor_velocity_limit=np.inf, - pd_control_enabled=False, + pd_control_enabled=False,#not needed to be true if accurate motor model is enabled (has its own better PD) leg_model_enabled=True, - accurate_motor_model_enabled=False, + accurate_motor_model_enabled=True, motor_kp=1.0, motor_kd=0.02, torque_control_enabled=False, - motor_overheat_protection=False, + motor_overheat_protection=True, hard_reset=True, on_rack=False, render=False,