Some experiments with one leg

erdnaxe · Jul 30, 2020 · 7fae409 · 7fae409
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diff --git a/gym_kraby/envs/one_leg_bullet_env.py b/gym_kraby/envs/one_leg_bullet_env.py
@@ -197,9 +197,10 @@ def _get_reward(self):
         target_distance = np.square(position - self.target_position).sum()
 
         # Comsuption is speed * torque
-        speeds = self.observation[1:-6:2]
-        torques = self.torques
-        comsuption = self.dt * abs(sum(speeds * torques))
+        #speeds = self.observation[1:-6:2]
+        #torques = self.torques
+        #comsuption = self.dt * abs(sum(speeds * torques))
+        comsuption = 0
         w = 0  # comsuption weight, FIXME: disabled
 
         # Compute reward

diff --git a/notebooks/stablebaselines/one_leg_training.ipynb b/notebooks/stablebaselines/one_leg_training.ipynb
diff --git a/notebooks/stablebaselines/plot.ipynb b/notebooks/stablebaselines/plot.ipynb