5c7a73df5849b2fbac0778a58646e657461c0c13,osim/env/human.py,GaitEnv,compute_reward,#GaitEnv#,11

Before Change

    def compute_reward(self):
        obs = self.get_observation()
        return self.osim_model.joints[0].getCoordinate(1).getValue(self.osim_model.state)

    def is_pelvis_too_low(self):
        y = self.osim_model.joints[0].getCoordinate(2).getValue(self.osim_model.state)
        return (y < 0.8)

After Change

    def compute_reward(self):
        obs = self.get_observation()
        x = self.osim_model.joints[0].getCoordinate(1).getValue(self.osim_model.state)
        delta = self.last_x - x
        self.last_x = 0
        return delta

    def is_pelvis_too_low(self):

Instances