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Code Issues Releases Wiki Activity

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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3
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

2
setup.py
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@ -440,7 +440,7 @@ print("-----")
setup(
name = 'pybullet',
version='1.3.3',
version='1.3.5',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',