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ant env, fix feet_collision reward issue

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This commit is contained in:
Erwin Coumans
2017-09-09 16:00:03 -07:00
parent 666c824b81
commit ce64aff7af
2 changed files with 2 additions and 3 deletions
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examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -65,9 +65,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
contact_ids = set((x[2], x[4]) for x in f.contact_list())
#print("CONTACT OF '%d' WITH %d" % (contact_ids, ",".join(contact_names)) )
if (self.ground_ids & contact_ids):
#disable feet_collision_cost update, for compatibility with Roboschool
#see Issue 63: https://github.com/openai/roboschool/issues/63
#feet_collision_cost += self.foot_collision_cost
feet_collision_cost += self.foot_collision_cost
self.robot.feet_contact[i] = 1.0
else:
self.robot.feet_contact[i] = 0.0