normalize goal data

2019-07-02 12:02:11 +02:00
parent f0bc50f738
commit fa6b04668e
1 changed files with 2 additions and 2 deletions
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py
@@ -165,8 +165,8 @@ class PyBulletDeepMimicEnv(Env):
    return ctrl_size - root_size

  def build_goal_norm_groups(self, agent_id):
-    # Perform no normalization on goal data
-    return np.array([-1] * len(self.goal.getTFData()))
+    # Perform normalization on goal data
+    return np.array([0] * len(self.goal.getTFData()))

  def build_goal_offset(self, agent_id):
    # no offset