[gym/common] Do not enforce 'dtMax'. (#727)

duburcqa · Feb 18, 2024 · 68197a2 · 68197a2
1 parent f1535d1
commit 68197a2
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/data/bipedal_robots/atlas/atlas_v4_options.toml b/data/bipedal_robots/atlas/atlas_v4_options.toml
@@ -8,7 +8,6 @@ tolRel = 1e-4
 sensorsUpdatePeriod = 0.005
 controllerUpdatePeriod = 0.005
 logInternalStepperSteps = false
-successiveIterFailedMax = 1000
 randomSeedSeq = [0,]
 
 # ============== Contact dynamics ===============

diff --git a/python/gym_jiminy/common/gym_jiminy/common/envs/env_generic.py b/python/gym_jiminy/common/gym_jiminy/common/envs/env_generic.py
@@ -60,6 +60,12 @@
 from .internal import loop_interactive
 
 
+# Maximum realtime slowdown of simulation steps before triggering timeout error
+TIMEOUT_RATIO = 50
+
+# Absolute tolerance when checking that observations are valid
+OBS_CONTAINS_TOL = 0.01
+
 # Define universal bounds for the observation space
 FREEFLYER_POS_TRANS_MAX = 1000.0
 FREEFLYER_VEL_LIN_MAX = 1000.0
@@ -73,8 +79,6 @@
 SENSOR_GYRO_MAX = 100.0
 SENSOR_ACCEL_MAX = 10000.0
 
-OBS_CONTAINS_TOL = 0.01
-
 
 LOGGER = logging.getLogger(__name__)
 
@@ -1286,13 +1290,12 @@ def _setup(self) -> None:
         # Configure the low-level integrator
         engine_options = self.simulator.engine.get_options()
         engine_options["stepper"]["iterMax"] = 0
-        engine_options["stepper"]["dtMax"] = min(0.02, self.step_dt)
         if self.debug:
             engine_options["stepper"]["verbose"] = True
             engine_options["stepper"]["logInternalStepperSteps"] = True
 
         # Set maximum computation time for single internal integration steps
-        engine_options["stepper"]["timeout"] = 2.0
+        engine_options["stepper"]["timeout"] = self.step_dt * TIMEOUT_RATIO
         if self.debug:
             engine_options["stepper"]["timeout"] = 0.0