variable timestep for deepmimic env

examples/pybullet/gym/pybullet_envs/deep_mimic/env/pybullet_deep_mimic_env.py

@@ -21,6 +21,7 @@ class InitializationStrategy(Enum):
 class PyBulletDeepMimicEnv(Env):
 
   def __init__(self, arg_parser=None, enable_draw=False, pybullet_client=None,
+               time_step=1./240,
                init_strategy=InitializationStrategy.RANDOM):
     super().__init__(arg_parser, enable_draw)
     self._num_agents = 1
@@ -28,6 +29,7 @@ class PyBulletDeepMimicEnv(Env):
     self._isInitialized = False
     self._useStablePD = True
     self._arg_parser = arg_parser
+    self.timeStep = time_step
     self._init_strategy = init_strategy
     print("Initialization strategy: {:s}".format(init_strategy))
     self.reset()
@@ -62,7 +64,7 @@ class PyBulletDeepMimicEnv(Env):
       motionPath = pybullet_data.getDataPath() + "/" + motion_file[0]
       #motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
       self._mocapData.Load(motionPath)
-      timeStep = 1. / 240.
+      timeStep = self.timeStep
       useFixedBase = False
       self._humanoid = humanoid_stable_pd.HumanoidStablePD(self._pybullet_client, self._mocapData,
                                                            timeStep, useFixedBase, self._arg_parser)
@@ -278,6 +280,7 @@ class PyBulletDeepMimicEnv(Env):
     #print("pybullet_deep_mimic_env:update timeStep=",timeStep," t=",self.t)
     self._pybullet_client.setTimeStep(timeStep)
     self._humanoid._timeStep = timeStep
+    self.timeStep = timeStep
 
     for i in range(1):
       self.t += timeStep
@@ -329,7 +332,7 @@ class PyBulletDeepMimicEnv(Env):
 
   def check_valid_episode(self):
     #could check if limbs exceed velocity threshold
-    return true
+    return True
 
   def getKeyboardEvents(self):
     return self._pybullet_client.getKeyboardEvents()

examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py

@@ -33,12 +33,14 @@ class HumanoidDeepBulletEnv(gym.Env):
   metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50}
 
   def __init__(self, renders=False, arg_file='', test_mode=False,
+               time_step=1./240,
                rescale_actions=True,
                rescale_observations=True):
     """    
     Args:
       test_mode (bool): in test mode, the `reset()` method will always set the mocap clip time
       to 0.
+      time_step (float): physics time step.
     """
     self._arg_parser = ArgParser()
     Logger.print2("===========================================================")
@@ -50,7 +52,7 @@ class HumanoidDeepBulletEnv(gym.Env):
     assert succ, Logger.print2('Failed to load args from: ' + arg_file)
 
     self._p: Optional[BulletClient] = None
-    self._time_step = 1./240.
+    self._time_step = time_step
     self._internal_env: Optional[PyBulletDeepMimicEnv] = None
     self._renders = renders
     self._discrete_actions = False
@@ -177,6 +179,7 @@ class HumanoidDeepBulletEnv(gym.Env):
       else:
         init_strat = InitializationStrategy.RANDOM
       self._internal_env = PyBulletDeepMimicEnv(self._arg_parser, self._renders,
+                                                time_step=self._time_step,
                                                 init_strategy=init_strat)
 
     self._internal_env.reset()