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[gym/zoo] Fix 'acrobot' and 'cartpole' envs not using wrong integrator. #719

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Feb 13, 2024
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[gym/zoo] Fix 'acrobot' and 'cartpole' envs not using wrong integrator. #719

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5 changes: 3 additions & 2 deletions python/gym_jiminy/envs/gym_jiminy/envs/acrobot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -141,9 +141,10 @@ def _setup(self) -> None:
# Call base implementation
super()._setup()

# Increase stepper accuracy for time-continuous control
# Enforce fixed-timestep integrator.
# It ensures calling 'step' always takes the same amount of time.
engine_options = self.simulator.engine.get_options()
engine_options["stepper"]["solver"] = "runge_kutta_4"
engine_options["stepper"]["odeSolver"] = "runge_kutta_4"
engine_options["stepper"]["dtMax"] = CONTROL_DT
self.simulator.engine.set_options(engine_options)

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2 changes: 1 addition & 1 deletion python/gym_jiminy/envs/gym_jiminy/envs/cartpole.py
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Expand Up @@ -156,7 +156,7 @@ def _setup(self) -> None:

# OpenAI Gym implementation uses euler explicit integration scheme
engine_options = self.simulator.engine.get_options()
engine_options["stepper"]["solver"] = "euler_explicit"
engine_options["stepper"]["odeSolver"] = "euler_explicit"
engine_options["stepper"]["dtMax"] = CONTROL_DT
self.simulator.engine.set_options(engine_options)

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