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nicrusso7 / rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
Apache License 2.0
973 stars 130 forks source link

Add height condition on fall #18

Closed y-prudent closed 3 years ago

y-prudent commented 3 years ago

Hi, I added a condition to consider that the robot is falling when its height is lower than 0.13 (it was in the docstring but not implemented)

nicrusso7 commented 3 years ago

Hi, thank you for your contribution. Actually, I'm going to completely change the approach considering the robot feet contact sensors. Check this out.

I will close this PR, but feel free to implement the new approach in this project, I'd happy to merge that change in case :)

y-prudent commented 3 years ago

Hi, nice thanks for the link ! :)

I see that you also fixed the distance reward in the Follower class of your new project. It now takes into account the checkpoints passed and you also added a time penalty ! I had some troubles in the previous RexGymEnv where the distance reward at each time step was the x position of the robot (instead of the difference between the current x position and the previous one). So the robot sometimes learned to stop moving when he was in the positive x and its total reward kept increasing haha.