joao-alex-cunha
commented
6 years ago Just found it! I don't know how I missed it really.
In the gym_forward_walker.py in the RoboschoolForwardWalker.calc_state the last line is: return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
Apologies for this non-issue.
Hi, I'm using Roboschool forward walkers (hopper, walker2d, half-cheetah, humanoid) and noticed that velocities (both the body linear velocity and joint velocities) are clipped between [-5, 5]. Is there a reason why this clipping is applied? And more importantly is it possible to turn it off?
I tried having a look at the mujoco_assets/*.xml files and also at physics_bullet.cpp but couldn't find anything that relates to clipping velocities.
Thanks in advance