🐛 Fix energy penalty bug in VSS environments

Wheel speed command was being converted twice for energy penalty calculation
jgocm · Jun 3, 2021 · 096689d · 096689d
1 parent 31f0d99
commit 096689d
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diff --git a/rsoccer_gym/vss/env_ma/vss_gym_ma.py b/rsoccer_gym/vss/env_ma/vss_gym_ma.py
@@ -344,7 +344,6 @@ def _energy_penalty(self, robot_idx: int):
         en_penalty_1 = abs(self.sent_commands[robot_idx].v_wheel0)
         en_penalty_2 = abs(self.sent_commands[robot_idx].v_wheel1)
         energy_penalty = - (en_penalty_1 + en_penalty_2)
-        energy_penalty /= self.field.rbt_wheel_radius
         return energy_penalty
 
 

diff --git a/rsoccer_gym/vss/env_vss/vss_gym.py b/rsoccer_gym/vss/env_vss/vss_gym.py
@@ -308,5 +308,4 @@ def __energy_penalty(self):
         en_penalty_1 = abs(self.sent_commands[0].v_wheel0)
         en_penalty_2 = abs(self.sent_commands[0].v_wheel1)
         energy_penalty = - (en_penalty_1 + en_penalty_2)
-        energy_penalty /= self.field.rbt_wheel_radius
         return energy_penalty