WalkerBase::__init__
self.isRender=
True
self.timestep=
0.004125
self.frame_skip
4
!!!!!!!!!!
test2
?????????
calc_potential: self.walk_target_dist
999.997916168
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
(b'link_d0', b'roboschool/models_outdoor/stadium/part0.obj')
(b'link_d1', b'roboschool/models_outdoor/stadium/part1.obj')
(b'link_d2', b'part2.obj')
(b'floor', b'ground_plane')
(b'torso', b'ant')
found torso
self.isRender=
True
!!!!!!!!!!
test2
?????????
calc_potential: self.walk_target_dist
1000.00610479
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
calc_potential: self.walk_target_dist
1000.00610554
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
-4.562077083392069e-05
electricity_cost
-0.9226314525260784
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, -4.562077083392069e-05, -0.9226314525260784, -0.4, 0.0]
sum rewards
-0.3226770732969123
calc_potential: self.walk_target_dist
1000.00610576
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
-1.333058753516525e-05
electricity_cost
-1.0196303621996163
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, -1.333058753516525e-05, -1.0196303621996163, -0.4, 0.0]
sum rewards
-0.4196436927871515
calc_potential: self.walk_target_dist
1000.00610519
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
3.4626857086550444e-05
electricity_cost
-1.1103951216256553
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 3.4626857086550444e-05, -1.1103951216256553, -0.4, 0.0]
sum rewards
-0.5103604947685688
calc_potential: self.walk_target_dist
1000.00610351
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.00010188555461354554
electricity_cost
-1.1831291769050818
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.00010188555461354554, -1.1831291769050818, -0.4, 0.0]
sum rewards
-0.5830272913504683
calc_potential: self.walk_target_dist
1000.0061003
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.00019467130186967552
electricity_cost
-1.238374996184644
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.00019467130186967552, -1.238374996184644, -0.4, 0.0]
sum rewards
-0.6381803248827743
calc_potential: self.walk_target_dist
1000.00609505
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.00031778423726791516
electricity_cost
-1.2495986752797965
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.00031778423726791516, -1.2495986752797965, -0.4, 0.0]
sum rewards
-0.6492808910425286
calc_potential: self.walk_target_dist
1000.0060873
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.00046971641859272495
electricity_cost
-1.2379254066581806
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.00046971641859272495, -1.2379254066581806, -0.4, 0.0]
sum rewards
-0.6374556902395879
calc_potential: self.walk_target_dist
1000.00607678
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0006378612961270846
electricity_cost
-1.2394545102090704
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0006378612961270846, -1.2394545102090704, -0.4, 0.0]
sum rewards
-0.6388166489129433
calc_potential: self.walk_target_dist
1000.0060633
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0008172321468009613
electricity_cost
-1.2744196073171252
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0008172321468009613, -1.2744196073171252, -0.4, 0.0]
sum rewards
-0.6736023751703243
calc_potential: self.walk_target_dist
1000.00604665
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0010087404225487262
electricity_cost
-1.3083641382213882
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0010087404225487262, -1.3083641382213882, -0.4, 0.0]
sum rewards
-0.7073553977988395
calc_potential: self.walk_target_dist
1000.00602662
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.001213852061482612
electricity_cost
-1.302021980471284
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.001213852061482612, -1.302021980471284, -0.4, 0.0]
sum rewards
-0.7008081284098014
calc_potential: self.walk_target_dist
1000.00600305
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0014285646684584208
electricity_cost
-1.2904579113422732
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0014285646684584208, -1.2904579113422732, -0.4, 0.0]
sum rewards
-0.6890293466738148
calc_potential: self.walk_target_dist
1000.0059759
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0016456651574117132
electricity_cost
-1.2861743957450107
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0016456651574117132, -1.2861743957450107, -0.4, 0.0]
sum rewards
-0.684528730587599
calc_potential: self.walk_target_dist
1000.00594526
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0018566058206488378
electricity_cost
-1.2774040279081427
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0018566058206488378, -1.2774040279081427, -0.4, 0.0]
sum rewards
-0.6755474220874939
calc_potential: self.walk_target_dist
1000.00591141
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.00205175959126791
electricity_cost
-1.29194387174865
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.00205175959126791, -1.29194387174865, -0.4, 0.0]
sum rewards
-0.6898921121573821
calc_potential: self.walk_target_dist
1000.00587457
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.002232704675407149
electricity_cost
-1.3265210089092263
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.002232704675407149, -1.3265210089092263, -0.4, 0.0]
sum rewards
-0.7242883042338192
calc_potential: self.walk_target_dist
1000.00583476
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0024128487493726425
electricity_cost
-1.3431073853753575
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0024128487493726425, -1.3431073853753575, -0.4, 0.0]
sum rewards
-0.7406945366259848
calc_potential: self.walk_target_dist
1000.00579174
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0026069101149914786
electricity_cost
-1.3726666986037221
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0026069101149914786, -1.3726666986037221, -0.4, 0.0]
sum rewards
-0.7700597884887307
calc_potential: self.walk_target_dist
1000.0057452
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0028207764044054784
electricity_cost
-1.4029219179282988
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.0028207764044054784, -1.4029219179282988, -0.4, 0.0]
sum rewards
-0.8001011415238933
calc_potential: self.walk_target_dist
1000.00569482
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.003053695836570114
electricity_cost
-1.4323963739903107
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.003053695836570114, -1.4323963739903107, -0.4, 0.0]
sum rewards
-0.8293426781537406
calc_potential: self.walk_target_dist
1000.0056403
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.003304230580397416
electricity_cost
-1.4355574683206067
joints_at_limit_cost
-0.4
feet_collision_cost
0.0
rewards=
[1.0, 0.003304230580397416, -1.4355574683206067, -0.4, 0.0]
sum rewards
-0.8322532377402093
calc_potential: self.walk_target_dist
1000.00558147
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0035652844089781865
electricity_cost
-1.3918801902815459
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.0035652844089781865, -1.3918801902815459, -0.30000000000000004, 0.0]
sum rewards
-0.6883149058725677
calc_potential: self.walk_target_dist
1000.00551797
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.00384808168746531
electricity_cost
-1.233645586082449
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.00384808168746531, -1.233645586082449, -0.30000000000000004, 0.0]
sum rewards
-0.5297975043949836
calc_potential: self.walk_target_dist
1000.0054502
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0041077649730141275
electricity_cost
-1.0753185549742974
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.0041077649730141275, -1.0753185549742974, -0.30000000000000004, 0.0]
sum rewards
-0.3712107900012833
calc_potential: self.walk_target_dist
1000.00538014
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.004245817799528595
electricity_cost
-0.9177948163247124
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.004245817799528595, -0.9177948163247124, -0.2, 0.0]
sum rewards
-0.1135489985251838
calc_potential: self.walk_target_dist
1000.00530855
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0043390929567976855
electricity_cost
-0.7665744980296836
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.0043390929567976855, -0.7665744980296836, -0.2, 0.0]
sum rewards
0.03776459492711409
calc_potential: self.walk_target_dist
1000.00523387
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.004525651012954768
electricity_cost
-0.6964744322438661
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.004525651012954768, -0.6964744322438661, -0.2, 0.0]
sum rewards
0.10805121876908869
calc_potential: self.walk_target_dist
1000.00515232
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.004942767205648124
electricity_cost
-0.6879285499804669
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.004942767205648124, -0.6879285499804669, -0.2, 0.0]
sum rewards
0.11701421722518118
calc_potential: self.walk_target_dist
1000.005062
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.005473613033245783
electricity_cost
-0.6501923957852039
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.005473613033245783, -0.6501923957852039, -0.2, 0.0]
sum rewards
0.15528121724804184
calc_potential: self.walk_target_dist
1000.00496444
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.0059128686334588565
electricity_cost
-0.6050289017645869
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.0059128686334588565, -0.6050289017645869, -0.2, 0.0]
sum rewards
0.20088396686887194
calc_potential: self.walk_target_dist
1000.00486202
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.006207214923051652
electricity_cost
-0.5205829636749544
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.006207214923051652, -0.5205829636749544, -0.1, 0.0]
sum rewards
0.3856242512480973
calc_potential: self.walk_target_dist
1000.00475742
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.006339606523397379
electricity_cost
-0.506200022467547
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.006339606523397379, -0.506200022467547, -0.1, 0.0]
sum rewards
0.4001395840558504
calc_potential: self.walk_target_dist
1000.00465125
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.006434537412133068
electricity_cost
-0.6776110004906918
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.006434537412133068, -0.6776110004906918, -0.1, 0.0]
sum rewards
0.22882353692144128
calc_potential: self.walk_target_dist
1000.00453808
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.006858407963591162
electricity_cost
-0.835898804652199
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.006858407963591162, -0.835898804652199, -0.1, 0.0]
sum rewards
0.07095960331139214
calc_potential: self.walk_target_dist
1000.00440576
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.008019607725145761
electricity_cost
-0.9221997453012027
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.008019607725145761, -0.9221997453012027, -0.1, 0.0]
sum rewards
-0.01418013757605699
calc_potential: self.walk_target_dist
1000.00424374
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.009819529739615973
electricity_cost
-0.8662170559668628
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.009819529739615973, -0.8662170559668628, -0.0, 0.0]
sum rewards
0.14360247377275315
calc_potential: self.walk_target_dist
1000.00404902
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.011801296357589308
electricity_cost
-0.891572324605476
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.011801296357589308, -0.891572324605476, -0.0, 0.0]
sum rewards
0.12022897175211333
calc_potential: self.walk_target_dist
1000.00382304
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.013695583169464953
electricity_cost
-0.8973486347783178
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.013695583169464953, -0.8973486347783178, -0.0, 0.0]
sum rewards
0.11634694839114712
calc_potential: self.walk_target_dist
1000.00357103
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.015273461620381568
electricity_cost
-0.8644353180358088
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.015273461620381568, -0.8644353180358088, -0.0, 0.0]
sum rewards
0.15083814358457281
calc_potential: self.walk_target_dist
1000.00330004
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.016423184679297265
electricity_cost
-0.7877372270584186
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.016423184679297265, -0.7877372270584186, -0.0, 0.0]
sum rewards
0.22868595762087862
calc_potential: self.walk_target_dist
1000.00301603
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.01721283689403208
electricity_cost
-0.7381137182245383
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.01721283689403208, -0.7381137182245383, -0.0, 0.0]
sum rewards
0.2790991186694938
calc_potential: self.walk_target_dist
1000.0027272
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.01750503241783008
electricity_cost
-0.5123370988633333
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.01750503241783008, -0.5123370988633333, -0.1, 0.0]
sum rewards
0.40516793355449676
calc_potential: self.walk_target_dist
1000.00231897
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.02474126486777095
electricity_cost
-0.6867851929648985
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.02474126486777095, -0.6867851929648985, -0.2, 0.0]
sum rewards
0.13795607190287246
calc_potential: self.walk_target_dist
1000.00193141
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.023488168961193878
electricity_cost
-0.39754995028459233
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.023488168961193878, -0.39754995028459233, -0.30000000000000004, 0.0]
sum rewards
0.32593821867660155
calc_potential: self.walk_target_dist
1000.00153014
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.024319932257640176
electricity_cost
-0.4492492622778201
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.024319932257640176, -0.4492492622778201, -0.30000000000000004, 0.0]
sum rewards
0.27507066997982
calc_potential: self.walk_target_dist
1000.00113532
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.02392800534289563
electricity_cost
-0.8720546500891135
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.02392800534289563, -0.8720546500891135, -0.2, 0.0]
sum rewards
-0.04812664474621792
calc_potential: self.walk_target_dist
1000.00075418
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.02309964146843413
electricity_cost
-0.7289127220091433
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.02309964146843413, -0.7289127220091433, -0.2, 0.0]
sum rewards
0.09418691945929086
calc_potential: self.walk_target_dist
1000.00038966
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.02209232522000093
electricity_cost
-0.565902332479975
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.02209232522000093, -0.565902332479975, -0.2, 0.0]
sum rewards
0.2561899927400259
calc_potential: self.walk_target_dist
1000.00004776
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.020721024498925544
electricity_cost
-0.4907531732249589
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.020721024498925544, -0.4907531732249589, -0.1, 0.0]
sum rewards
0.42996785127396664
calc_potential: self.walk_target_dist
999.999730558
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.01922430876584258
electricity_cost
-0.4701258584184763
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.01922430876584258, -0.4701258584184763, -0.1, 0.0]
sum rewards
0.4490984503473663
calc_potential: self.walk_target_dist
999.999440004
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.01760932860634057
electricity_cost
-0.44442360617838983
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.01760932860634057, -0.44442360617838983, -0.1, 0.0]
sum rewards
0.47318572242795076
calc_potential: self.walk_target_dist
999.998552748
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.05377305925503606
electricity_cost
-0.4084364905327173
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.05377305925503606, -0.4084364905327173, -0.1, 0.0]
sum rewards
0.5453365687223187
calc_potential: self.walk_target_dist
999.996668956
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.11416925268713385
electricity_cost
-0.5857319060497952
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.11416925268713385, -0.5857319060497952, -0.1, 0.0]
sum rewards
0.4284373466373387
calc_potential: self.walk_target_dist
999.993809069
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.17332647727016592
electricity_cost
-0.8333098072564427
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.17332647727016592, -0.8333098072564427, -0.0, 0.0]
sum rewards
0.34001667001372327
calc_potential: self.walk_target_dist
999.990971127
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.17199648694804637
electricity_cost
-0.6550080972297819
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.17199648694804637, -0.6550080972297819, -0.0, 0.0]
sum rewards
0.5169883897182644
calc_potential: self.walk_target_dist
999.988091302
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.1745348545809975
electricity_cost
-0.6579111707641074
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.1745348545809975, -0.6579111707641074, -0.0, 0.0]
sum rewards
0.5166236838168901
calc_potential: self.walk_target_dist
999.985179129
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.1764953025849536
electricity_cost
-0.6838710798808167
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.1764953025849536, -0.6838710798808167, -0.0, 0.0]
sum rewards
0.49262422270413686
calc_potential: self.walk_target_dist
999.982240514
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.1780979038667283
electricity_cost
-0.6997954867224884
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.1780979038667283, -0.6997954867224884, -0.0, 0.0]
sum rewards
0.47830241714423993
calc_potential: self.walk_target_dist
999.97927803
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.17954448545788182
electricity_cost
-0.7231073889576194
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.17954448545788182, -0.7231073889576194, -0.0, 0.0]
sum rewards
0.45643709650026243
calc_potential: self.walk_target_dist
999.976292866
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.18091899067076156
electricity_cost
-0.738279532310357
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.18091899067076156, -0.738279532310357, -0.0, 0.0]
sum rewards
0.4426394583604045
calc_potential: self.walk_target_dist
999.973158259
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.189976204346749
electricity_cost
-0.48197015109458374
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.189976204346749, -0.48197015109458374, -0.0, 0.0]
sum rewards
0.7080060532521653
calc_potential: self.walk_target_dist
999.969541741
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.21918288946471876
electricity_cost
-0.3282991852782085
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.21918288946471876, -0.3282991852782085, -0.0, 0.0]
sum rewards
0.8908837041865103
calc_potential: self.walk_target_dist
999.965663536
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.23504277008760255
electricity_cost
-0.36792911640376424
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.23504277008760255, -0.36792911640376424, -0.0, 0.0]
sum rewards
0.8671136536838383
calc_potential: self.walk_target_dist
999.961672584
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2418758838539361
electricity_cost
-0.39293440156627124
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.2418758838539361, -0.39293440156627124, -0.0, 0.0]
sum rewards
0.8489414822876649
calc_potential: self.walk_target_dist
999.957559754
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.24926241229695734
electricity_cost
-0.41758448644181667
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.24926241229695734, -0.41758448644181667, -0.0, 0.0]
sum rewards
0.8316779258551407
calc_potential: self.walk_target_dist
999.953332688
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2561857992041041
electricity_cost
-0.515477906262189
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.2561857992041041, -0.515477906262189, -0.0, 0.0]
sum rewards
0.7407078929419151
calc_potential: self.walk_target_dist
999.948985212
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.26348342884739395
electricity_cost
-0.5595243008064095
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.26348342884739395, -0.5595243008064095, -0.0, 0.0]
sum rewards
0.7039591280409845
calc_potential: self.walk_target_dist
999.944513088
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2710377699986566
electricity_cost
-0.6033187647100118
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.2710377699986566, -0.6033187647100118, -0.0, 0.0]
sum rewards
0.6677190052886448
calc_potential: self.walk_target_dist
999.939914532
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.27870037156390026
electricity_cost
-0.6304910511277271
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.27870037156390026, -0.6304910511277271, -0.0, 0.0]
sum rewards
0.6482093204361732
calc_potential: self.walk_target_dist
999.935190691
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.286293399243732
electricity_cost
-0.6493679246054818
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.286293399243732, -0.6493679246054818, -0.1, 0.0]
sum rewards
0.5369254746382502
calc_potential: self.walk_target_dist
999.930371569
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2920680269235163
electricity_cost
-0.548333067868926
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.2920680269235163, -0.548333067868926, -0.1, 0.0]
sum rewards
0.6437349590545903
calc_potential: self.walk_target_dist
999.925530366
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.29340622526797233
electricity_cost
-0.6303396738453455
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.29340622526797233, -0.6303396738453455, -0.1, 0.0]
sum rewards
0.5630665514226268
calc_potential: self.walk_target_dist
999.920625296
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2972769394837087
electricity_cost
-0.6096941261778321
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.2972769394837087, -0.6096941261778321, -0.1, 0.0]
sum rewards
0.5875828133058766
calc_potential: self.walk_target_dist
999.915660593
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.30089110247354256
electricity_cost
-0.6179705702602802
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.30089110247354256, -0.6179705702602802, -0.1, 0.0]
sum rewards
0.5829205322132623
calc_potential: self.walk_target_dist
999.910648005
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.30379324513342
electricity_cost
-0.6500721399329751
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.30379324513342, -0.6500721399329751, -0.1, 0.0]
sum rewards
0.5537211052004449
calc_potential: self.walk_target_dist
999.905537848
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3097064523753943
electricity_cost
-0.6876909291395275
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3097064523753943, -0.6876909291395275, -0.1, 0.0]
sum rewards
0.5220155232358669
calc_potential: self.walk_target_dist
999.900299774
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31745904982381035
electricity_cost
-0.6721607136618923
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31745904982381035, -0.6721607136618923, -0.1, 0.0]
sum rewards
0.545298336161918
calc_potential: self.walk_target_dist
999.894961613
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32352491548954276
electricity_cost
-0.6782166813441369
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.32352491548954276, -0.6782166813441369, -0.1, 0.0]
sum rewards
0.5453082341454059
calc_potential: self.walk_target_dist
999.889527575
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32933563143160427
electricity_cost
-0.687319183665889
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.32933563143160427, -0.687319183665889, -0.1, 0.0]
sum rewards
0.5420164477657153
calc_potential: self.walk_target_dist
999.883993147
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33541987521311967
electricity_cost
-0.6933315394057102
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.33541987521311967, -0.6933315394057102, -0.1, 0.0]
sum rewards
0.5420883358074094
calc_potential: self.walk_target_dist
999.878360917
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3413472414831631
electricity_cost
-0.7049006807808085
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3413472414831631, -0.7049006807808085, -0.1, 0.0]
sum rewards
0.5364465607023546
calc_potential: self.walk_target_dist
999.872630171
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3473179720895132
electricity_cost
-0.7225477166283818
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3473179720895132, -0.7225477166283818, -0.1, 0.0]
sum rewards
0.5247702554611314
calc_potential: self.walk_target_dist
999.866802826
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3531724102649605
electricity_cost
-0.7411231536391009
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3531724102649605, -0.7411231536391009, -0.1, 0.0]
sum rewards
0.5120492566258597
calc_potential: self.walk_target_dist
999.860879805
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.35897096893313574
electricity_cost
-0.7596789764837931
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.35897096893313574, -0.7596789764837931, -0.1, 0.0]
sum rewards
0.49929199244934264
calc_potential: self.walk_target_dist
999.85486571
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3644906399931642
electricity_cost
-0.7814001612262387
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3644906399931642, -0.7814001612262387, -0.1, 0.0]
sum rewards
0.48309047876692557
calc_potential: self.walk_target_dist
999.848764628
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.369762551781605
electricity_cost
-0.7875546301227189
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.369762551781605, -0.7875546301227189, -0.1, 0.0]
sum rewards
0.48220792165888615
calc_potential: self.walk_target_dist
999.842582032
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.374702750967117
electricity_cost
-0.7867106413861003
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.374702750967117, -0.7867106413861003, -0.1, 0.0]
sum rewards
0.4879921095810168
calc_potential: self.walk_target_dist
999.836324643
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.37923572851286735
electricity_cost
-0.7784227490905522
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.37923572851286735, -0.7784227490905522, -0.1, 0.0]
sum rewards
0.5008129794223152
calc_potential: self.walk_target_dist
999.830000003
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.38331150269368663
electricity_cost
-0.7421142105884408
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.38331150269368663, -0.7421142105884408, -0.1, 0.0]
sum rewards
0.5411972921052458
calc_potential: self.walk_target_dist
999.82361919
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3867159085784806
electricity_cost
-0.7302423607383083
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3867159085784806, -0.7302423607383083, -0.1, 0.0]
sum rewards
0.5564735478401723
calc_potential: self.walk_target_dist
999.817199501
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.38907205121358857
electricity_cost
-0.7606162012218312
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.38907205121358857, -0.7606162012218312, -0.1, 0.0]
sum rewards
0.5284558499917574
calc_potential: self.walk_target_dist
999.810753178
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.39068624555511633
electricity_cost
-0.8233901314329881
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.39068624555511633, -0.8233901314329881, -0.1, 0.0]
sum rewards
0.46729611412212824
calc_potential: self.walk_target_dist
999.804290668
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.391667310068442
electricity_cost
-0.8526967873643905
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.391667310068442, -0.8526967873643905, -0.1, 0.0]
sum rewards
0.43897052270405157
calc_potential: self.walk_target_dist
999.797821576
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.392066179192625
electricity_cost
-0.8790552950090275
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.392066179192625, -0.8790552950090275, -0.1, 0.0]
sum rewards
0.41301088418359755
calc_potential: self.walk_target_dist
999.791351122
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3921486976541928
electricity_cost
-0.9025466766268802
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3921486976541928, -0.9025466766268802, -0.0, 0.0]
sum rewards
0.48960202102731265
calc_potential: self.walk_target_dist
999.784887799
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3917165872408077
electricity_cost
-0.9343396628933267
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3917165872408077, -0.9343396628933267, -0.0, 0.0]
sum rewards
0.457376924347481
calc_potential: self.walk_target_dist
999.77843734
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3909369104949292
electricity_cost
-0.9658185143491252
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3909369104949292, -0.9658185143491252, -0.0, 0.0]
sum rewards
0.42511839614580393
calc_potential: self.walk_target_dist
999.772008653
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.38961739228398073
electricity_cost
-1.00022552667547
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.38961739228398073, -1.00022552667547, -0.0, 0.0]
sum rewards
0.3893918656085107
calc_potential: self.walk_target_dist
999.765614717
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3875112475216156
electricity_cost
-1.0402281925939154
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3875112475216156, -1.0402281925939154, -0.0, 0.0]
sum rewards
0.3472830549277002
calc_potential: self.walk_target_dist
999.759257059
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.38531262236938346
electricity_cost
-1.0614495240100874
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.38531262236938346, -1.0614495240100874, -0.1, 0.0]
sum rewards
0.22386309835929605
calc_potential: self.walk_target_dist
999.753497276
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.34907774434395833
electricity_cost
-0.9750929987552313
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.34907774434395833, -0.9750929987552313, -0.1, 0.0]
sum rewards
0.2739847455887271
calc_potential: self.walk_target_dist
999.747939413
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33684021094086347
electricity_cost
-0.7589107092977659
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.33684021094086347, -0.7589107092977659, -0.1, 0.0]
sum rewards
0.47792950164309755
calc_potential: self.walk_target_dist
999.742514892
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.328758845491393
electricity_cost
-0.755030732298842
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.328758845491393, -0.755030732298842, -0.1, 0.0]
sum rewards
0.47372811319255104
calc_potential: self.walk_target_dist
999.737171656
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32383246652170783
electricity_cost
-0.7990190308516125
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.32383246652170783, -0.7990190308516125, -0.1, 0.0]
sum rewards
0.42481343567009533
calc_potential: self.walk_target_dist
999.731912929
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31871072492504027
electricity_cost
-0.8201952632085696
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31871072492504027, -0.8201952632085696, -0.1, 0.0]
sum rewards
0.3985154617164707
calc_potential: self.walk_target_dist
999.726738603
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3135955285397358
electricity_cost
-1.2983631693807867
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3135955285397358, -1.2983631693807867, -0.1, 0.0]
sum rewards
-0.08476764084105085
calc_potential: self.walk_target_dist
999.721568759
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31332384561392246
electricity_cost
-1.2274901002987608
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31332384561392246, -1.2274901002987608, -0.1, 0.0]
sum rewards
-0.01416625468483837
calc_potential: self.walk_target_dist
999.716424419
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3117782041663304
electricity_cost
-1.0724020625462003
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3117782041663304, -1.0724020625462003, -0.1, 0.0]
sum rewards
0.1393761416201301
calc_potential: self.walk_target_dist
999.711303586
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31035348738805624
electricity_cost
-0.9584542599613058
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31035348738805624, -0.9584542599613058, -0.1, 0.0]
sum rewards
0.2518992274267504
calc_potential: self.walk_target_dist
999.706191414
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3098286076929071
electricity_cost
-0.8416366357034183
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3098286076929071, -0.8416366357034183, -0.1, 0.0]
sum rewards
0.36819197198948883
calc_potential: self.walk_target_dist
999.701069863
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3103970486554317
electricity_cost
-0.7908375742075126
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3103970486554317, -0.7908375742075126, -0.1, 0.0]
sum rewards
0.4195594744479192
calc_potential: self.walk_target_dist
999.695921003
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31205209507606924
electricity_cost
-0.7485702808149678
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31205209507606924, -0.7485702808149678, -0.1, 0.0]
sum rewards
0.46348181426110147
calc_potential: self.walk_target_dist
999.690728224
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3147138855638332
electricity_cost
-0.6928832946624427
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3147138855638332, -0.6928832946624427, -0.1, 0.0]
sum rewards
0.5218305909013905
calc_potential: self.walk_target_dist
999.68547643
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31829055401613005
electricity_cost
-0.6478134431829228
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31829055401613005, -0.6478134431829228, -0.1, 0.0]
sum rewards
0.5704771108332073
calc_potential: self.walk_target_dist
999.680145483
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32308772131364094
electricity_cost
-0.6203182451619291
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.32308772131364094, -0.6203182451619291, -0.1, 0.0]
sum rewards
0.6027694761517118
calc_potential: self.walk_target_dist
999.674719976
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32881861693022074
electricity_cost
-0.6450869826565718
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.32881861693022074, -0.6450869826565718, -0.1, 0.0]
sum rewards
0.5837316342736489
calc_potential: self.walk_target_dist
999.669184896
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33545936462905956
electricity_cost
-0.769237790530968
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.33545936462905956, -0.769237790530968, -0.1, 0.0]
sum rewards
0.4662215740980916
calc_potential: self.walk_target_dist
999.663528803
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.34279350857104873
electricity_cost
-0.8916929010832868
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.34279350857104873, -0.8916929010832868, -0.1, 0.0]
sum rewards
0.35110060748776195
calc_potential: self.walk_target_dist
999.657744237
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3505797964753583
electricity_cost
-0.9144342917072446
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3505797964753583, -0.9144342917072446, -0.1, 0.0]
sum rewards
0.3361455047681138
calc_potential: self.walk_target_dist
999.651822235
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3589092141119181
electricity_cost
-0.8760340628568888
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3589092141119181, -0.8760340628568888, -0.1, 0.0]
sum rewards
0.38287515125502936
calc_potential: self.walk_target_dist
999.645751839
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.36790277967520524
electricity_cost
-0.7681327138882468
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.36790277967520524, -0.7681327138882468, -0.1, 0.0]
sum rewards
0.4997700657869585
calc_potential: self.walk_target_dist
999.639525107
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3773776881862432
electricity_cost
-0.6489590900334665
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3773776881862432, -0.6489590900334665, -0.1, 0.0]
sum rewards
0.6284185981527767
calc_potential: self.walk_target_dist
999.633140352
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.38695484476920683
electricity_cost
-0.5239604757055706
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.38695484476920683, -0.5239604757055706, -0.1, 0.0]
sum rewards
0.7629943690636363
calc_potential: self.walk_target_dist
999.626602023
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.39626237298944034
electricity_cost
-0.4782353955281615
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.39626237298944034, -0.4782353955281615, -0.1, 0.0]
sum rewards
0.8180269774612788
calc_potential: self.walk_target_dist
999.619751908
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4151584590144921
electricity_cost
-0.37988741528669634
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4151584590144921, -0.37988741528669634, -0.2, 0.0]
sum rewards
0.8352710437277959
calc_potential: self.walk_target_dist
999.612692911
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.42781799522344954
electricity_cost
-0.7461729780572349
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.42781799522344954, -0.7461729780572349, -0.2, 0.0]
sum rewards
0.4816450171662146
calc_potential: self.walk_target_dist
999.605605635
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4295318995427806
electricity_cost
-0.6753820558959984
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4295318995427806, -0.6753820558959984, -0.1, 0.0]
sum rewards
0.6541498436467822
calc_potential: self.walk_target_dist
999.598491208
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43117735636769794
electricity_cost
-0.6040213850520744
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.43117735636769794, -0.6040213850520744, -0.2, 0.0]
sum rewards
0.6271559713156236
calc_potential: self.walk_target_dist
999.591355478
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4324685114333988
electricity_cost
-0.49039967467949563
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4324685114333988, -0.49039967467949563, -0.2, 0.0]
sum rewards
0.7420688367539032
calc_potential: self.walk_target_dist
999.584192789
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4341023435626994
electricity_cost
-0.41900343308603294
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4341023435626994, -0.41900343308603294, -0.2, 0.0]
sum rewards
0.8150989104766666
calc_potential: self.walk_target_dist
999.577009132
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4353731468436308
electricity_cost
-0.36365193227787773
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4353731468436308, -0.36365193227787773, -0.2, 0.0]
sum rewards
0.8717212145657531
calc_potential: self.walk_target_dist
999.569816588
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4359117703497759
electricity_cost
-0.4949922298424754
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4359117703497759, -0.4949922298424754, -0.2, 0.0]
sum rewards
0.7409195405073006
calc_potential: self.walk_target_dist
999.562617554
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4363050981264678
electricity_cost
-0.5894950574329274
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4363050981264678, -0.5894950574329274, -0.2, 0.0]
sum rewards
0.6468100406935404
calc_potential: self.walk_target_dist
999.555414827
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4365289105553529
electricity_cost
-0.6384061852345174
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4365289105553529, -0.6384061852345174, -0.2, 0.0]
sum rewards
0.5981227253208354
calc_potential: self.walk_target_dist
999.548537594
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.41680202002316946
electricity_cost
-0.44425464892360017
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.41680202002316946, -0.44425464892360017, -0.2, 0.0]
sum rewards
0.7725473710995694
calc_potential: self.walk_target_dist
999.541626252
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4188692233656184
electricity_cost
-0.42074318182075876
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.4188692233656184, -0.42074318182075876, -0.30000000000000004, 0.0]
sum rewards
0.6981260415448596
calc_potential: self.walk_target_dist
999.534686517
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.42058997544518206
electricity_cost
-0.404222341499954
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.42058997544518206, -0.404222341499954, -0.2, 0.0]
sum rewards
0.8163676339452282
calc_potential: self.walk_target_dist
999.527746459
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.42060955176566495
electricity_cost
-0.2953532177493992
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.42060955176566495, -0.2953532177493992, -0.2, 0.0]
sum rewards
0.9252563340162658
calc_potential: self.walk_target_dist
999.520758677
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4235019921834464
electricity_cost
-0.2733034794181544
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4235019921834464, -0.2733034794181544, -0.2, 0.0]
sum rewards
0.9501985127652921
calc_potential: self.walk_target_dist
999.513724371
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.42632156656327425
electricity_cost
-0.3019035372621459
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.42632156656327425, -0.3019035372621459, -0.2, 0.0]
sum rewards
0.9244180293011284
calc_potential: self.walk_target_dist
999.506647011
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4289308891093242
electricity_cost
-0.33630849832322585
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4289308891093242, -0.33630849832322585, -0.1, 0.0]
sum rewards
0.9926223907860984
calc_potential: self.walk_target_dist
999.499530082
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4313290373320342
electricity_cost
-0.3602681733158417
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4313290373320342, -0.3602681733158417, -0.1, 0.0]
sum rewards
0.9710608640161925
calc_potential: self.walk_target_dist
999.492375288
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4336238910109387
electricity_cost
-0.37810333271880425
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4336238910109387, -0.37810333271880425, -0.1, 0.0]
sum rewards
0.9555205582921343
calc_potential: self.walk_target_dist
999.485183046
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43589344235806493
electricity_cost
-0.3884282804504316
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.43589344235806493, -0.3884282804504316, -0.1, 0.0]
sum rewards
0.9474651619076334
calc_potential: self.walk_target_dist
999.477954225
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43811038669082336
electricity_cost
-0.3919942196426764
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.43811038669082336, -0.3919942196426764, -0.1, 0.0]
sum rewards
0.9461161670481469
calc_potential: self.walk_target_dist
999.470689727
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.44027257568814093
electricity_cost
-0.3919423115911111
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.44027257568814093, -0.3919423115911111, -0.1, 0.0]
sum rewards
0.9483302640970298
calc_potential: self.walk_target_dist
999.463390668
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.44236721678316826
electricity_cost
-0.3942191596837753
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.44236721678316826, -0.3942191596837753, -0.1, 0.0]
sum rewards
0.9481480570993931
calc_potential: self.walk_target_dist
999.456058698
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4443617993601947
electricity_cost
-0.4011942072965366
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4443617993601947, -0.4011942072965366, -0.2, 0.0]
sum rewards
0.8431675920636581
calc_potential: self.walk_target_dist
999.448694823
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4462954770278884
electricity_cost
-0.4122371745167188
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4462954770278884, -0.4122371745167188, -0.2, 0.0]
sum rewards
0.8340583025111696
calc_potential: self.walk_target_dist
999.441299202
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4482194552110741
electricity_cost
-0.4169184547367587
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4482194552110741, -0.4169184547367587, -0.2, 0.0]
sum rewards
0.8313010004743153
calc_potential: self.walk_target_dist
999.433871496
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4501639754889766
electricity_cost
-0.42403539976370497
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4501639754889766, -0.42403539976370497, -0.2, 0.0]
sum rewards
0.8261285757252717
calc_potential: self.walk_target_dist
999.426411443
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4521244528077659
electricity_cost
-0.4174825049439009
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4521244528077659, -0.4174825049439009, -0.2, 0.0]
sum rewards
0.8346419478638651
calc_potential: self.walk_target_dist
999.418922437
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4538791475642938
electricity_cost
-0.4164859559936877
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4538791475642938, -0.4164859559936877, -0.2, 0.0]
sum rewards
0.8373931915706061
calc_potential: self.walk_target_dist
999.411404985
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45560315371403703
electricity_cost
-0.4253198414778473
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.45560315371403703, -0.4253198414778473, -0.2, 0.0]
sum rewards
0.8302833122361897
calc_potential: self.walk_target_dist
999.403854949
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4575779162623803
electricity_cost
-0.41467635430929506
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4575779162623803, -0.41467635430929506, -0.2, 0.0]
sum rewards
0.8429015619530853
calc_potential: self.walk_target_dist
999.396272048
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4595697497134097
electricity_cost
-0.39544288309724324
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4595697497134097, -0.39544288309724324, -0.2, 0.0]
sum rewards
0.8641268666161666
calc_potential: self.walk_target_dist
999.388654917
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46164434195816284
electricity_cost
-0.3854824668805844
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.46164434195816284, -0.3854824668805844, -0.2, 0.0]
sum rewards
0.8761618750775784
calc_potential: self.walk_target_dist
999.381001831
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46382336305396166
electricity_cost
-0.3853645992749885
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.46382336305396166, -0.3853645992749885, -0.2, 0.0]
sum rewards
0.8784587637789731
calc_potential: self.walk_target_dist
999.373311225
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46609732046636054
electricity_cost
-0.3995193445969889
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.46609732046636054, -0.3995193445969889, -0.2, 0.0]
sum rewards
0.8665779758693717
calc_potential: self.walk_target_dist
999.365600513
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46731589172850363
electricity_cost
-0.48794826506608546
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.46731589172850363, -0.48794826506608546, -0.2, 0.0]
sum rewards
0.7793676266624181
calc_potential: self.walk_target_dist
999.359258534
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3843623966531595
electricity_cost
-0.16446799354152047
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.3843623966531595, -0.16446799354152047, -0.2, 0.0]
sum rewards
1.019894403111639
calc_potential: self.walk_target_dist
999.353053912
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.37603769292036304
electricity_cost
-0.7270710456643217
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.37603769292036304, -0.7270710456643217, -0.2, 0.0]
sum rewards
0.44896664725604135
calc_potential: self.walk_target_dist
999.346901338
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3728832458436955
electricity_cost
-0.6166150332509817
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.3728832458436955, -0.6166150332509817, -0.2, 0.0]
sum rewards
0.5562682125927139
calc_potential: self.walk_target_dist
999.340804805
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.36948683211085154
electricity_cost
-0.6544380417736514
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.36948683211085154, -0.6544380417736514, -0.1, 0.0]
sum rewards
0.6150487903372002
calc_potential: self.walk_target_dist
999.334769583
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.36577106738695875
electricity_cost
-0.6730443498007599
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.36577106738695875, -0.6730443498007599, -0.1, 0.0]
sum rewards
0.5927267175861989
calc_potential: self.walk_target_dist
999.328797988
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3619148418365512
electricity_cost
-0.7026429173897825
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3619148418365512, -0.7026429173897825, -0.1, 0.0]
sum rewards
0.5592719244467688
calc_potential: self.walk_target_dist
999.322891754
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3579536016623024
electricity_cost
-0.7744096720935177
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3579536016623024, -0.7744096720935177, -0.0, 0.0]
sum rewards
0.5835439295687846
calc_potential: self.walk_target_dist
999.317052885
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.35387080512737157
electricity_cost
-0.8619148709185561
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.35387080512737157, -0.8619148709185561, -0.0, 0.0]
sum rewards
0.49195593420881545
calc_potential: self.walk_target_dist
999.311283313
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.34967104951647343
electricity_cost
-0.9473147945273619
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.34967104951647343, -0.9473147945273619, -0.1, 0.0]
sum rewards
0.30235625498911156
calc_potential: self.walk_target_dist
999.305497695
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.35064348985179095
electricity_cost
-0.9566811382829534
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.35064348985179095, -0.9566811382829534, -0.1, 0.0]
sum rewards
0.29396235156883754
calc_potential: self.walk_target_dist
999.299753308
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.348144711322675
electricity_cost
-1.260601493992497
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.348144711322675, -1.260601493992497, -0.1, 0.0]
sum rewards
-0.012456782669822003
calc_potential: self.walk_target_dist
999.29409128
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3431532110844273
electricity_cost
-1.0756640153994375
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3431532110844273, -1.0756640153994375, -0.0, 0.0]
sum rewards
0.26748919568498986
calc_potential: self.walk_target_dist
999.28849943
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3388999566232087
electricity_cost
-0.5865386870003697
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3388999566232087, -0.5865386870003697, -0.0, 0.0]
sum rewards
0.752361269622839
calc_potential: self.walk_target_dist
999.282961246
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3356475424952805
electricity_cost
-0.5874622413197478
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3356475424952805, -0.5874622413197478, -0.0, 0.0]
sum rewards
0.7481853011755327
calc_potential: self.walk_target_dist
999.27745761
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3335537105522235
electricity_cost
-0.632451315539539
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3335537105522235, -0.632451315539539, -0.0, 0.0]
sum rewards
0.7011023950126845
calc_potential: self.walk_target_dist
999.271970543
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33254948857211275
electricity_cost
-0.6961072342503842
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.33254948857211275, -0.6961072342503842, -0.0, 0.0]
sum rewards
0.6364422543217285
calc_potential: self.walk_target_dist
999.266493544
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3319393127821968
electricity_cost
-0.6962741687942494
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3319393127821968, -0.6962741687942494, -0.0, 0.0]
sum rewards
0.6356651439879474
calc_potential: self.walk_target_dist
999.261018427
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3318252699027653
electricity_cost
-0.6726141239335639
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3318252699027653, -0.6726141239335639, -0.0, 0.0]
sum rewards
0.6592111459692014
calc_potential: self.walk_target_dist
999.255535212
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3323160875152098
electricity_cost
-0.7404196163488596
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3323160875152098, -0.7404196163488596, -0.0, 0.0]
sum rewards
0.5918964711663502
calc_potential: self.walk_target_dist
999.250036739
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3332408163914806
electricity_cost
-0.8566369233527303
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3332408163914806, -0.8566369233527303, -0.0, 0.0]
sum rewards
0.4766038930387503
calc_potential: self.walk_target_dist
999.24451528
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33463385510549415
electricity_cost
-1.1788352526923886
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.33463385510549415, -1.1788352526923886, -0.0, 0.0]
sum rewards
0.1557986024131055
calc_potential: self.walk_target_dist
999.238966303
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3363016138537205
electricity_cost
-1.031756739539568
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3363016138537205, -1.031756739539568, -0.0, 0.0]
sum rewards
0.30454487431415256
calc_potential: self.walk_target_dist
999.233389008
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3380179276355193
electricity_cost
-1.047236816516732
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3380179276355193, -1.047236816516732, -0.0, 0.0]
sum rewards
0.29078111111878724
calc_potential: self.walk_target_dist
999.228096633
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3207499601121526
electricity_cost
-1.13927694059936
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3207499601121526, -1.13927694059936, -0.0, 0.0]
sum rewards
0.1814730195127927
calc_potential: self.walk_target_dist
999.222852884
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31780296112265205
electricity_cost
-1.363617906764176
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.31780296112265205, -1.363617906764176, -0.0, 0.0]
sum rewards
-0.045814945641523996
calc_potential: self.walk_target_dist
999.217522191
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32307234670588514
electricity_cost
-1.3372262918998559
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.32307234670588514, -1.3372262918998559, -0.0, 0.0]
sum rewards
-0.01415394519397073
calc_potential: self.walk_target_dist
999.212085449
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3294994634707109
electricity_cost
-1.3042625641099876
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3294994634707109, -1.3042625641099876, -0.0, 0.0]
sum rewards
0.025236899360723264
calc_potential: self.walk_target_dist
999.206532139
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33656425060326
electricity_cost
-0.9140943994666765
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.33656425060326, -0.9140943994666765, -0.1, 0.0]
sum rewards
0.32246985113658355
calc_potential: self.walk_target_dist
999.200644691
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3568150619248627
electricity_cost
-0.9520000161375527
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3568150619248627, -0.9520000161375527, -0.1, 0.0]
sum rewards
0.30481504578731
calc_potential: self.walk_target_dist
999.194636238
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.36414866719860584
electricity_cost
-0.9313263845547558
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.36414866719860584, -0.9313263845547558, -0.1, 0.0]
sum rewards
0.33282228264385005
calc_potential: self.walk_target_dist
999.188508565
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.371374111440673
electricity_cost
-0.8843943175640492
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.371374111440673, -0.8843943175640492, -0.0, 0.0]
sum rewards
0.4869797938766238
calc_potential: self.walk_target_dist
999.182261093
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.37863465672853636
electricity_cost
-0.8646636874574138
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.37863465672853636, -0.8646636874574138, -0.0, 0.0]
sum rewards
0.5139709692711225
calc_potential: self.walk_target_dist
999.175894828
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3858342475432437
electricity_cost
-0.8394116157608298
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3858342475432437, -0.8394116157608298, -0.0, 0.0]
sum rewards
0.5464226317824139
calc_potential: self.walk_target_dist
999.16941235
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.39287743542081444
electricity_cost
-0.7851457982552807
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.39287743542081444, -0.7851457982552807, -0.0, 0.0]
sum rewards
0.6077316371655337
calc_potential: self.walk_target_dist
999.162812312
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.40000229752331506
electricity_cost
-0.6833828096868071
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.40000229752331506, -0.6833828096868071, -0.0, 0.0]
sum rewards
0.716619487836508
calc_potential: self.walk_target_dist
999.155511622
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4424660996082821
electricity_cost
-0.852890325227978
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4424660996082821, -0.852890325227978, -0.0, 0.0]
sum rewards
0.5895757743803041
calc_potential: self.walk_target_dist
999.148070896
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4509530883296975
electricity_cost
-0.8627134299714616
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4509530883296975, -0.8627134299714616, -0.0, 0.0]
sum rewards
0.5882396583582359
calc_potential: self.walk_target_dist
999.140524336
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4573672660117154
electricity_cost
-0.8292936070343447
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4573672660117154, -0.8292936070343447, -0.0, 0.0]
sum rewards
0.6280736589773707
calc_potential: self.walk_target_dist
999.132880604
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4632564579951577
electricity_cost
-0.791951126073927
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4632564579951577, -0.791951126073927, -0.0, 0.0]
sum rewards
0.6713053319212307
calc_potential: self.walk_target_dist
999.12515233
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4683802374784136
electricity_cost
-0.753062434701993
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4683802374784136, -0.753062434701993, -0.0, 0.0]
sum rewards
0.7153178027764207
calc_potential: self.walk_target_dist
999.117346885
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4730572776461486
electricity_cost
-0.7159536767505323
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4730572776461486, -0.7159536767505323, -0.0, 0.0]
sum rewards
0.7571036008956162
calc_potential: self.walk_target_dist
999.109465918
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47763439483969705
electricity_cost
-0.6871217741396681
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.47763439483969705, -0.6871217741396681, -0.0, 0.0]
sum rewards
0.7905126207000289
calc_potential: self.walk_target_dist
999.101512615
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48201835063809995
electricity_cost
-0.6421008286831517
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48201835063809995, -0.6421008286831517, -0.0, 0.0]
sum rewards
0.8399175219549483
calc_potential: self.walk_target_dist
999.093492083
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4860928486014018
electricity_cost
-0.5847466410334256
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4860928486014018, -0.5847466410334256, -0.0, 0.0]
sum rewards
0.9013462075679762
calc_potential: self.walk_target_dist
999.085408065
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4899404948737356
electricity_cost
-0.5118501747482302
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4899404948737356, -0.5118501747482302, -0.0, 0.0]
sum rewards
0.9780903201255053
calc_potential: self.walk_target_dist
999.077274523
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.492941907250497
electricity_cost
-0.5160386074833704
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.492941907250497, -0.5160386074833704, -0.1, 0.0]
sum rewards
0.8769032997671267
calc_potential: self.walk_target_dist
999.069126939
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4937929982843343
electricity_cost
-0.6692360602154868
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4937929982843343, -0.6692360602154868, -0.1, 0.0]
sum rewards
0.7245569380688476
calc_potential: self.walk_target_dist
999.060951338
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49549095357360784
electricity_cost
-0.6263441835111135
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.49549095357360784, -0.6263441835111135, -0.1, 0.0]
sum rewards
0.7691467700624943
calc_potential: self.walk_target_dist
999.052747532
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4972003849907196
electricity_cost
-0.6197915079891017
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4972003849907196, -0.6197915079891017, -0.1, 0.0]
sum rewards
0.777408877001618
calc_potential: self.walk_target_dist
999.044518838
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4987087153131142
electricity_cost
-0.601275158665511
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4987087153131142, -0.601275158665511, -0.1, 0.0]
sum rewards
0.7974335566476033
calc_potential: self.walk_target_dist
999.036272901
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49975378255476244
electricity_cost
-0.595746486334611
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.49975378255476244, -0.595746486334611, -0.1, 0.0]
sum rewards
0.8040072962201514
calc_potential: self.walk_target_dist
999.028021
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5001152075928985
electricity_cost
-0.5826971186865341
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5001152075928985, -0.5826971186865341, -0.1, 0.0]
sum rewards
0.8174180889063645
calc_potential: self.walk_target_dist
999.019771861
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4999477792371181
electricity_cost
-1.106667716236016
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4999477792371181, -1.106667716236016, -0.1, 0.0]
sum rewards
0.2932800630011022
calc_potential: self.walk_target_dist
999.011538673
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4989811322520836
electricity_cost
-1.1007840011342394
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4989811322520836, -1.1007840011342394, -0.1, 0.0]
sum rewards
0.2981971311178443
calc_potential: self.walk_target_dist
999.003325252
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4977830963252927
electricity_cost
-1.0988591041483737
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4977830963252927, -1.0988591041483737, -0.1, 0.0]
sum rewards
0.298923992176919
calc_potential: self.walk_target_dist
998.995134415
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4964143207325833
electricity_cost
-1.0746088198574228
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4964143207325833, -1.0746088198574228, -0.1, 0.0]
sum rewards
0.32180550087516047
calc_potential: self.walk_target_dist
998.98696827
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49491789898456773
electricity_cost
-1.0244911097428475
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.49491789898456773, -1.0244911097428475, -0.0, 0.0]
sum rewards
0.4704267892417202
calc_potential: self.walk_target_dist
998.978827397
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4933862165635219
electricity_cost
-0.9664432355211626
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4933862165635219, -0.9664432355211626, -0.0, 0.0]
sum rewards
0.5269429810423593
calc_potential: self.walk_target_dist
998.970710906
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49190857555367984
electricity_cost
-0.9105946588801388
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.49190857555367984, -0.9105946588801388, -0.0, 0.0]
sum rewards
0.581313916673541
calc_potential: self.walk_target_dist
998.962618619
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4904416488861898
electricity_cost
-0.8578547129474783
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4904416488861898, -0.8578547129474783, -0.0, 0.0]
sum rewards
0.6325869359387115
calc_potential: self.walk_target_dist
998.954548816
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48907896199671086
electricity_cost
-0.8353883966644939
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48907896199671086, -0.8353883966644939, -0.0, 0.0]
sum rewards
0.6536905653322169
calc_potential: self.walk_target_dist
998.946501001
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48774633767607156
electricity_cost
-0.8422699918007681
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48774633767607156, -0.8422699918007681, -0.0, 0.0]
sum rewards
0.6454763458753034
calc_potential: self.walk_target_dist
998.938484979
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48581953082612017
electricity_cost
-0.8510573935384409
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48581953082612017, -0.8510573935384409, -0.0, 0.0]
sum rewards
0.6347621372876793
calc_potential: self.walk_target_dist
998.930485331
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4848271593291429
electricity_cost
-0.8456709049879191
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4848271593291429, -0.8456709049879191, -0.0, 0.0]
sum rewards
0.6391562543412238
calc_potential: self.walk_target_dist
998.922496467
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4841735533118481
electricity_cost
-0.8429099705224798
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4841735533118481, -0.8429099705224798, -0.0, 0.0]
sum rewards
0.6412635827893682
calc_potential: self.walk_target_dist
998.914509694
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4840468535985565
electricity_cost
-0.8479116154385988
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4840468535985565, -0.8479116154385988, -0.0, 0.0]
sum rewards
0.6361352381599576
calc_potential: self.walk_target_dist
998.906514011
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4845868781412719
electricity_cost
-0.8466912423912198
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4845868781412719, -0.8466912423912198, -0.0, 0.0]
sum rewards
0.637895635750052
calc_potential: self.walk_target_dist
998.89850324
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.485501251911046
electricity_cost
-0.8258073122181877
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.485501251911046, -0.8258073122181877, -0.0, 0.0]
sum rewards
0.6596939396928583
calc_potential: self.walk_target_dist
998.890473257
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4866656378580956
electricity_cost
-0.7776665940778994
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4866656378580956, -0.7776665940778994, -0.0, 0.0]
sum rewards
0.7089990437801962
calc_potential: self.walk_target_dist
998.882420887
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48802245005208533
electricity_cost
-0.7151448716930904
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48802245005208533, -0.7151448716930904, -0.0, 0.0]
sum rewards
0.772877578358995
calc_potential: self.walk_target_dist
998.874342703
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48958688661514316
electricity_cost
-0.6554876483616213
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48958688661514316, -0.6554876483616213, -0.0, 0.0]
sum rewards
0.8340992382535218
calc_potential: self.walk_target_dist
998.866234644
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49139753650524653
electricity_cost
-0.6115920038615865
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.49139753650524653, -0.6115920038615865, -0.0, 0.0]
sum rewards
0.87980553264366
calc_potential: self.walk_target_dist
998.858091987
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4934943285843474
electricity_cost
-0.5937839946410862
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4934943285843474, -0.5937839946410862, -0.0, 0.0]
sum rewards
0.8997103339432612
calc_potential: self.walk_target_dist
998.849921679
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4951701831087121
electricity_cost
-0.5797906238126757
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4951701831087121, -0.5797906238126757, -0.0, 0.0]
sum rewards
0.9153795592960364
calc_potential: self.walk_target_dist
998.84172603
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4967060082562966
electricity_cost
-0.5583975577120643
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4967060082562966, -0.5583975577120643, -0.0, 0.0]
sum rewards
0.9383084505442323
calc_potential: self.walk_target_dist
998.833499139
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4985994247763301
electricity_cost
-0.5520231446552177
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4985994247763301, -0.5520231446552177, -0.0, 0.0]
sum rewards
0.9465762801211124
calc_potential: self.walk_target_dist
998.825232956
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5009808415343286
electricity_cost
-0.5473825229139804
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5009808415343286, -0.5473825229139804, -0.0, 0.0]
sum rewards
0.9535983186203483
calc_potential: self.walk_target_dist
998.816919127
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5038683924212819
electricity_cost
-0.5567612153787814
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5038683924212819, -0.5567612153787814, -0.0, 0.0]
sum rewards
0.9471071770425005
calc_potential: self.walk_target_dist
998.808551939
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.507102299030521
electricity_cost
-0.5639701510657598
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.507102299030521, -0.5639701510657598, -0.0, 0.0]
sum rewards
0.9431321479647612
calc_potential: self.walk_target_dist
998.800129332
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.510461032303283
electricity_cost
-0.5567380182276078
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.510461032303283, -0.5567380182276078, -0.0, 0.0]
sum rewards
0.9537230140756752
calc_potential: self.walk_target_dist
998.791648557
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5139863682925352
electricity_cost
-0.5527147370785801
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5139863682925352, -0.5527147370785801, -0.0, 0.0]
sum rewards
0.9612716312139551
calc_potential: self.walk_target_dist
998.78310411
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5178452998807188
electricity_cost
-0.5554198162822174
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5178452998807188, -0.5554198162822174, -0.0, 0.0]
sum rewards
0.9624254835985014
calc_potential: self.walk_target_dist
998.77449312
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5218781478470191
electricity_cost
-0.5621706981963707
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5218781478470191, -0.5621706981963707, -0.0, 0.0]
sum rewards
0.9597074496506485
calc_potential: self.walk_target_dist
998.765816032
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5258841289323755
electricity_cost
-0.5517806144754018
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5258841289323755, -0.5517806144754018, -0.0, 0.0]
sum rewards
0.9741035144569736
calc_potential: self.walk_target_dist
998.757076552
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5296654367484734
electricity_cost
-0.49644850998689105
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5296654367484734, -0.49644850998689105, -0.0, 0.0]
sum rewards
1.0332169267615825
calc_potential: self.walk_target_dist
998.748390109
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.526451089514012
electricity_cost
-0.449599307467671
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.526451089514012, -0.449599307467671, -0.0, 0.0]
sum rewards
1.076851782046341
calc_potential: self.walk_target_dist
998.740055358
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5051364575119806
electricity_cost
-0.73123762786845
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5051364575119806, -0.73123762786845, -0.0, 0.0]
sum rewards
0.7738988296435305
calc_potential: self.walk_target_dist
998.731711454
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5056911497013061
electricity_cost
-0.7074245532749682
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5056911497013061, -0.7074245532749682, -0.0, 0.0]
sum rewards
0.7982665964263379
calc_potential: self.walk_target_dist
998.723359355
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5061878055421403
electricity_cost
-0.6799912237563326
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5061878055421403, -0.6799912237563326, -0.0, 0.0]
sum rewards
0.8261965817858077
calc_potential: self.walk_target_dist
998.715003027
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5064441138456459
electricity_cost
-0.698007564754521
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5064441138456459, -0.698007564754521, -0.0, 0.0]
sum rewards
0.808436549091125
calc_potential: self.walk_target_dist
998.706645883
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5064935932969092
electricity_cost
-0.7219853567261194
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5064935932969092, -0.7219853567261194, -0.0, 0.0]
sum rewards
0.7845082365707898
calc_potential: self.walk_target_dist
998.698290321
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5063977148165577
electricity_cost
-0.7293226671782126
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5063977148165577, -0.7293226671782126, -0.0, 0.0]
sum rewards
0.7770750476383451
calc_potential: self.walk_target_dist
998.6899214
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5072072920447681
electricity_cost
-0.8252747124827412
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5072072920447681, -0.8252747124827412, -0.1, 0.0]
sum rewards
0.5819325795620269
calc_potential: self.walk_target_dist
998.681474306
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.511945079160796
electricity_cost
-0.9384633716836
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.511945079160796, -0.9384633716836, -0.1, 0.0]
sum rewards
0.4734817074771961
calc_potential: self.walk_target_dist
998.673070205
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5093394846480805
electricity_cost
-0.8557120514123623
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5093394846480805, -0.8557120514123623, -0.1, 0.0]
sum rewards
0.5536274332357183
calc_potential: self.walk_target_dist
998.664692268
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5077537699980894
electricity_cost
-0.8153024012280241
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5077537699980894, -0.8153024012280241, -0.2, 0.0]
sum rewards
0.4924513687700653
calc_potential: self.walk_target_dist
998.656259432
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5110809805628378
electricity_cost
-0.5650024944358882
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5110809805628378, -0.5650024944358882, -0.2, 0.0]
sum rewards
0.7460784861269496
calc_potential: self.walk_target_dist
998.647785428
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5135759877521195
electricity_cost
-0.6845932807958918
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5135759877521195, -0.6845932807958918, -0.2, 0.0]
sum rewards
0.6289827069562277
calc_potential: self.walk_target_dist
998.639250668
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5172581667575287
electricity_cost
-0.7219179541490199
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5172581667575287, -0.7219179541490199, -0.1, 0.0]
sum rewards
0.6953402126085088
calc_potential: self.walk_target_dist
998.63065182
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5211423141954583
electricity_cost
-0.7490050043086846
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5211423141954583, -0.7490050043086846, -0.1, 0.0]
sum rewards
0.6721373098867738
calc_potential: self.walk_target_dist
998.62198426
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5253066556615522
electricity_cost
-0.7690193326443888
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5253066556615522, -0.7690193326443888, -0.1, 0.0]
sum rewards
0.6562873230171634
calc_potential: self.walk_target_dist
998.613243506
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5297426630422706
electricity_cost
-0.7835993246872907
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5297426630422706, -0.7835993246872907, -0.0, 0.0]
sum rewards
0.7461433383549799
calc_potential: self.walk_target_dist
998.604426113
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5343874486279674
electricity_cost
-0.7926607607928932
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5343874486279674, -0.7926607607928932, -0.0, 0.0]
sum rewards
0.7417266878350742
calc_potential: self.walk_target_dist
998.595531043
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.539095155429095
electricity_cost
-0.7966238584648837
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.539095155429095, -0.7966238584648837, -0.0, 0.0]
sum rewards
0.7424712969642113
calc_potential: self.walk_target_dist
998.586565486
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5433671098871855
electricity_cost
-0.9282299456868379
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5433671098871855, -0.9282299456868379, -0.0, 0.0]
sum rewards
0.6151371642003476
calc_potential: self.walk_target_dist
998.577540163
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5469892653491115
electricity_cost
-0.9218326114168058
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5469892653491115, -0.9218326114168058, -0.0, 0.0]
sum rewards
0.6251566539323057
calc_potential: self.walk_target_dist
998.568454089
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5506711642810842
electricity_cost
-0.9283181156214411
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5506711642810842, -0.9283181156214411, -0.0, 0.0]
sum rewards
0.6223530486596431
calc_potential: self.walk_target_dist
998.559310752
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5541416071573622
electricity_cost
-0.9379996940210724
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5541416071573622, -0.9379996940210724, -0.0, 0.0]
sum rewards
0.6161419131362897
calc_potential: self.walk_target_dist
998.550115001
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5573182588268537
electricity_cost
-0.9559305096255111
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5573182588268537, -0.9559305096255111, -0.0, 0.0]
sum rewards
0.6013877492013426
calc_potential: self.walk_target_dist
998.540873122
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5601138960118988
electricity_cost
-0.9630286133803243
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5601138960118988, -0.9630286133803243, -0.0, 0.0]
sum rewards
0.5970852826315745
calc_potential: self.walk_target_dist
998.531592596
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5624560743308393
electricity_cost
-0.9547484161858651
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5624560743308393, -0.9547484161858651, -0.0, 0.0]
sum rewards
0.6077076581449742
calc_potential: self.walk_target_dist
998.522281445
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5643121836619684
electricity_cost
-0.9522564423920457
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5643121836619684, -0.9522564423920457, -0.0, 0.0]
sum rewards
0.6120557412699228
calc_potential: self.walk_target_dist
998.51294689
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5657306405410054
electricity_cost
-0.9596078639641876
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5657306405410054, -0.9596078639641876, -0.0, 0.0]
sum rewards
0.6061227765768178
calc_potential: self.walk_target_dist
998.503597336
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5666396030937904
electricity_cost
-0.9909594129536434
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5666396030937904, -0.9909594129536434, -0.1, 0.0]
sum rewards
0.47568019014014695
calc_potential: self.walk_target_dist
998.494796381
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.533391229735571
electricity_cost
-1.0839269623500616
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.533391229735571, -1.0839269623500616, -0.2, 0.0]
sum rewards
0.24946426738550936
calc_potential: self.walk_target_dist
998.486352138
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.511772314668633
electricity_cost
-1.2161830609269246
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.511772314668633, -1.2161830609269246, -0.2, 0.0]
sum rewards
0.0955892537417084
calc_potential: self.walk_target_dist
998.478241892
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4915300691209268
electricity_cost
-0.6049705942735596
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4915300691209268, -0.6049705942735596, -0.2, 0.0]
sum rewards
0.6865594748473671
calc_potential: self.walk_target_dist
998.470101748
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4933420523739187
electricity_cost
-0.5677787725931842
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4933420523739187, -0.5677787725931842, -0.1, 0.0]
sum rewards
0.8255632797807345
calc_potential: self.walk_target_dist
998.461975367
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49250793585088104
electricity_cost
-0.5863837363199634
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.49250793585088104, -0.5863837363199634, -0.1, 0.0]
sum rewards
0.8061241995309176
calc_potential: self.walk_target_dist
998.453856236
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49206857027456863
electricity_cost
-0.5808988545675074
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.49206857027456863, -0.5808988545675074, -0.1, 0.0]
sum rewards
0.8111697157070612
calc_potential: self.walk_target_dist
998.445744518
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49161927006935
electricity_cost
-0.5577429177436108
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.49161927006935, -0.5577429177436108, -0.1, 0.0]
sum rewards
0.8338763523257392
calc_potential: self.walk_target_dist
998.437639624
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.49120567485078936
electricity_cost
-0.5471747761360628
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.49120567485078936, -0.5471747761360628, -0.1, 0.0]
sum rewards
0.8440308987147266
calc_potential: self.walk_target_dist
998.429542541
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4907323062798241
electricity_cost
-0.5258746566352881
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4907323062798241, -0.5258746566352881, -0.1, 0.0]
sum rewards
0.864857649644536
calc_potential: self.walk_target_dist
998.421457582
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4899975206135423
electricity_cost
-0.5540007739401621
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4899975206135423, -0.5540007739401621, -0.2, 0.0]
sum rewards
0.7359967466733801
calc_potential: self.walk_target_dist
998.413389887
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48895120115048485
electricity_cost
-0.5852524321901051
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.48895120115048485, -0.5852524321901051, -0.2, 0.0]
sum rewards
0.7036987689603798
calc_potential: self.walk_target_dist
998.405343399
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4876659235014813
electricity_cost
-0.6118676796395983
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.4876659235014813, -0.6118676796395983, -0.2, 0.0]
sum rewards
0.675798243861883
calc_potential: self.walk_target_dist
998.397320707
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48622374541446334
electricity_cost
-0.6504049431086959
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.48622374541446334, -0.6504049431086959, -0.1, 0.0]
sum rewards
0.7358188023057675
calc_potential: self.walk_target_dist
998.389323202
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4846973071107641
electricity_cost
-0.6889183822354397
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4846973071107641, -0.6889183822354397, -0.1, 0.0]
sum rewards
0.6957789248753244
calc_potential: self.walk_target_dist
998.381349651
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4832455167270382
electricity_cost
-0.7092548208980644
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4832455167270382, -0.7092548208980644, -0.1, 0.0]
sum rewards
0.6739906958289739
calc_potential: self.walk_target_dist
998.373396602
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4820029765178333
electricity_cost
-0.7252204716315973
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4820029765178333, -0.7252204716315973, -0.1, 0.0]
sum rewards
0.656782504886236
calc_potential: self.walk_target_dist
998.365466034
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.480640477828274
electricity_cost
-0.7431972803220096
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.480640477828274, -0.7431972803220096, -0.1, 0.0]
sum rewards
0.6374431975062644
calc_potential: self.walk_target_dist
998.357565046
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4788477453184896
electricity_cost
-0.7616824239842475
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4788477453184896, -0.7616824239842475, -0.1, 0.0]
sum rewards
0.6171653213342422
calc_potential: self.walk_target_dist
998.349694873
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4769801949005341
electricity_cost
-0.7792210907438318
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4769801949005341, -0.7792210907438318, -0.1, 0.0]
sum rewards
0.5977591041567023
calc_potential: self.walk_target_dist
998.341856046
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47508038757223403
electricity_cost
-0.7999146948259162
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.47508038757223403, -0.7999146948259162, -0.1, 0.0]
sum rewards
0.5751656927463179
calc_potential: self.walk_target_dist
998.334048183
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4732038600195665
electricity_cost
-0.8207298182609883
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4732038600195665, -0.8207298182609883, -0.1, 0.0]
sum rewards
0.5524740417585782
calc_potential: self.walk_target_dist
998.326269114
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4714587375710835
electricity_cost
-0.8545626556221773
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4714587375710835, -0.8545626556221773, -0.1, 0.0]
sum rewards
0.5168960819489062
calc_potential: self.walk_target_dist
998.318516023
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4698842557918397
electricity_cost
-0.8760123847213315
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4698842557918397, -0.8760123847213315, -0.1, 0.0]
sum rewards
0.49387187107050823
calc_potential: self.walk_target_dist
998.310806183
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46726304016192444
electricity_cost
-0.9976670426060444
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.46726304016192444, -0.9976670426060444, -0.2, 0.0]
sum rewards
0.26959599755588
calc_potential: self.walk_target_dist
998.303182596
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46203557547414675
electricity_cost
-0.9522716234851594
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.46203557547414675, -0.9522716234851594, -0.1, 0.0]
sum rewards
0.4097639519889874
calc_potential: self.walk_target_dist
998.29553936
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4632264121755725
electricity_cost
-0.8469139850170861
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4632264121755725, -0.8469139850170861, -0.1, 0.0]
sum rewards
0.5163124271584864
calc_potential: self.walk_target_dist
998.28790036
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4629697310447227
electricity_cost
-0.796392454627981
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4629697310447227, -0.796392454627981, -0.1, 0.0]
sum rewards
0.5665772764167417
calc_potential: self.walk_target_dist
998.280323874
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45918097555841086
electricity_cost
-0.760741213682704
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45918097555841086, -0.760741213682704, -0.1, 0.0]
sum rewards
0.5984397618757069
calc_potential: self.walk_target_dist
998.272782601
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45704685362579767
electricity_cost
-0.7456837727557425
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45704685362579767, -0.7456837727557425, -0.1, 0.0]
sum rewards
0.6113630808700552
calc_potential: self.walk_target_dist
998.265256396
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45613363326265244
electricity_cost
-0.7379643047378457
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45613363326265244, -0.7379643047378457, -0.1, 0.0]
sum rewards
0.6181693285248068
calc_potential: self.walk_target_dist
998.257731036
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4560824270520243
electricity_cost
-0.7399864418311914
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4560824270520243, -0.7399864418311914, -0.1, 0.0]
sum rewards
0.6160959852208329
calc_potential: self.walk_target_dist
998.25019461
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4567530878557591
electricity_cost
-0.7374870435361094
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4567530878557591, -0.7374870435361094, -0.1, 0.0]
sum rewards
0.6192660443196497
calc_potential: self.walk_target_dist
998.242632683
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45829857707576593
electricity_cost
-0.7333267117741337
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45829857707576593, -0.7333267117741337, -0.1, 0.0]
sum rewards
0.6249718653016323
calc_potential: self.walk_target_dist
998.235138427
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45419733813469065
electricity_cost
-0.8245955156611474
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45419733813469065, -0.8245955156611474, -0.1, 0.0]
sum rewards
0.5296018224735433
calc_potential: self.walk_target_dist
998.227661954
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45311957628291566
electricity_cost
-0.8981637099105142
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45311957628291566, -0.8981637099105142, -0.1, 0.0]
sum rewards
0.4549558663724015
calc_potential: self.walk_target_dist
998.220293128
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.44659553014935227
electricity_cost
-0.9922335379111964
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.44659553014935227, -0.9922335379111964, -0.1, 0.0]
sum rewards
0.3543619922381559
calc_potential: self.walk_target_dist
998.21292541
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.44652837793546496
electricity_cost
-1.0268824498005928
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.44652837793546496, -1.0268824498005928, -0.1, 0.0]
sum rewards
0.31964592813487214
calc_potential: self.walk_target_dist
998.205470505
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45181241902173497
electricity_cost
-1.1225591568440527
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.45181241902173497, -1.1225591568440527, -0.1, 0.0]
sum rewards
0.22925326217768224
calc_potential: self.walk_target_dist
998.197938682
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4564740883652121
electricity_cost
-1.2195432363984806
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4564740883652121, -1.2195432363984806, -0.1, 0.0]
sum rewards
0.13693085196673146
calc_potential: self.walk_target_dist
998.190330357
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46111063259013463
electricity_cost
-1.263655410352555
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.46111063259013463, -1.263655410352555, -0.1, 0.0]
sum rewards
0.0974552222375796
calc_potential: self.walk_target_dist
998.182641296
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4660036978821154
electricity_cost
-1.211404780035405
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4660036978821154, -1.211404780035405, -0.1, 0.0]
sum rewards
0.1545989178467103
calc_potential: self.walk_target_dist
998.174866269
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47121372463880107
electricity_cost
-1.103801470749699
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.47121372463880107, -1.103801470749699, -0.1, 0.0]
sum rewards
0.26741225388910206
calc_potential: self.walk_target_dist
998.166995108
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4770400727647939
electricity_cost
-0.7423529360026719
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4770400727647939, -0.7423529360026719, -0.1, 0.0]
sum rewards
0.634687136762122
calc_potential: self.walk_target_dist
998.159021662
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48323917660309235
electricity_cost
-0.6095638383918986
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.48323917660309235, -0.6095638383918986, -0.1, 0.0]
sum rewards
0.7736753382111937
calc_potential: self.walk_target_dist
998.150950629
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48915350661991397
electricity_cost
-0.634254014924911
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.48915350661991397, -0.634254014924911, -0.1, 0.0]
sum rewards
0.754899491695003
calc_potential: self.walk_target_dist
998.142787727
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4947213568884763
electricity_cost
-0.6644464779721965
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4947213568884763, -0.6644464779721965, -0.1, 0.0]
sum rewards
0.7302748789162798
calc_potential: self.walk_target_dist
998.134542738
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4996962771037943
electricity_cost
-0.6742272397418232
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4996962771037943, -0.6742272397418232, -0.1, 0.0]
sum rewards
0.7254690373619711
calc_potential: self.walk_target_dist
998.126233974
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5035614348016679
electricity_cost
-0.6732565307295562
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5035614348016679, -0.6732565307295562, -0.1, 0.0]
sum rewards
0.7303049040721118
calc_potential: self.walk_target_dist
998.117865126
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5072029410657706
electricity_cost
-0.20587654475361197
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5072029410657706, -0.20587654475361197, -0.2, 0.0]
sum rewards
1.1013263963121587
calc_potential: self.walk_target_dist
998.109495331
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5072602852014825
electricity_cost
-0.8420399780908809
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5072602852014825, -0.8420399780908809, -0.2, 0.0]
sum rewards
0.4652203071106015
calc_potential: self.walk_target_dist
998.101134376
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5067245242971694
electricity_cost
-0.690150460304068
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5067245242971694, -0.690150460304068, -0.2, 0.0]
sum rewards
0.6165740639931014
calc_potential: self.walk_target_dist
998.092775646
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.506589747776161
electricity_cost
-0.5462291955090334
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.506589747776161, -0.5462291955090334, -0.2, 0.0]
sum rewards
0.7603605522671275
calc_potential: self.walk_target_dist
998.084415696
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5066635858893278
electricity_cost
-0.42647959695967486
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5066635858893278, -0.42647959695967486, -0.2, 0.0]
sum rewards
0.880183988929653
calc_potential: self.walk_target_dist
998.076054661
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5067294127511559
electricity_cost
-0.3650411577738923
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5067294127511559, -0.3650411577738923, -0.2, 0.0]
sum rewards
0.9416882549772636
calc_potential: self.walk_target_dist
998.067694443
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5066799094201997
electricity_cost
-0.3002259518737952
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5066799094201997, -0.3002259518737952, -0.2, 0.0]
sum rewards
1.0064539575464047
calc_potential: self.walk_target_dist
998.059336864
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5065199072341784
electricity_cost
-0.26786331717353057
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5065199072341784, -0.26786331717353057, -0.2, 0.0]
sum rewards
1.038656590060648
calc_potential: self.walk_target_dist
998.05097359
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5068650997636723
electricity_cost
-0.22027980752763743
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5068650997636723, -0.22027980752763743, -0.2, 0.0]
sum rewards
1.086585292236035
calc_potential: self.walk_target_dist
998.042593691
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5078726332794758
electricity_cost
-0.21621042863190224
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5078726332794758, -0.21621042863190224, -0.2, 0.0]
sum rewards
1.0916622046475737
calc_potential: self.walk_target_dist
998.034201497
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.508617864928965
electricity_cost
-0.22214532174493848
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.508617864928965, -0.22214532174493848, -0.2, 0.0]
sum rewards
1.0864725431840265
calc_potential: self.walk_target_dist
998.025800242
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5091669828761951
electricity_cost
-0.21417111791876525
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5091669828761951, -0.21417111791876525, -0.2, 0.0]
sum rewards
1.0949958649574298
calc_potential: self.walk_target_dist
998.01743939
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5067182555576437
electricity_cost
-0.18232557102655775
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5067182555576437, -0.18232557102655775, -0.0, 0.0]
sum rewards
1.324392684531086
calc_potential: self.walk_target_dist
998.009098892
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5054847192805028
electricity_cost
-0.14503840111550903
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5054847192805028, -0.14503840111550903, -0.0, 0.0]
sum rewards
1.3604463181649937
calc_potential: self.walk_target_dist
998.000770362
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5047594236166333
electricity_cost
-0.13986195508424887
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5047594236166333, -0.13986195508424887, -0.0, 0.0]
sum rewards
1.3648974685323845
calc_potential: self.walk_target_dist
997.992454571
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5039873562127468
electricity_cost
-0.14262489007920748
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5039873562127468, -0.14262489007920748, -0.0, 0.0]
sum rewards
1.3613624661335393
calc_potential: self.walk_target_dist
997.984155293
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5029865161777707
electricity_cost
-0.11231973307961308
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5029865161777707, -0.11231973307961308, -0.0, 0.0]
sum rewards
1.3906667830981576
calc_potential: self.walk_target_dist
997.975905125
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5000101882178569
electricity_cost
-0.11603825689060321
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5000101882178569, -0.11603825689060321, -0.0, 0.0]
sum rewards
1.3839719313272538
calc_potential: self.walk_target_dist
997.967649345
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5003502787076286
electricity_cost
-0.13675853957476258
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5003502787076286, -0.13675853957476258, -0.0, 0.0]
sum rewards
1.363591739132866
calc_potential: self.walk_target_dist
997.959396998
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5001422785499017
electricity_cost
-0.13592142715859076
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5001422785499017, -0.13592142715859076, -0.0, 0.0]
sum rewards
1.364220851391311
calc_potential: self.walk_target_dist
997.951136366
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5006443764868891
electricity_cost
-0.14154386577787664
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5006443764868891, -0.14154386577787664, -0.0, 0.0]
sum rewards
1.3591005107090124
calc_potential: self.walk_target_dist
997.942864487
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5013259614861454
electricity_cost
-0.18654183807870087
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5013259614861454, -0.18654183807870087, -0.0, 0.0]
sum rewards
1.3147841234074444
calc_potential: self.walk_target_dist
997.934580326
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5020703852787847
electricity_cost
-0.23211590701309628
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5020703852787847, -0.23211590701309628, -0.0, 0.0]
sum rewards
1.2699544782656884
calc_potential: self.walk_target_dist
997.926285416
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5027218006871408
electricity_cost
-0.2597596289097516
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5027218006871408, -0.2597596289097516, -0.0, 0.0]
sum rewards
1.242962171777389
calc_potential: self.walk_target_dist
997.917981784
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5032504054324818
electricity_cost
-0.27455928220230863
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5032504054324818, -0.27455928220230863, -0.0, 0.0]
sum rewards
1.2286911232301732
calc_potential: self.walk_target_dist
997.909670932
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5036880235202261
electricity_cost
-0.2874958646355787
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5036880235202261, -0.2874958646355787, -0.0, 0.0]
sum rewards
1.2161921588846474
calc_potential: self.walk_target_dist
997.901354068
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5040523557981942
electricity_cost
-0.29769582115105664
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5040523557981942, -0.29769582115105664, -0.0, 0.0]
sum rewards
1.2063565346471377
calc_potential: self.walk_target_dist
997.893032206
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5043552846545936
electricity_cost
-0.31250805529046516
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5043552846545936, -0.31250805529046516, -0.0, 0.0]
sum rewards
1.1918472293641285
calc_potential: self.walk_target_dist
997.884705855
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.504627331152733
electricity_cost
-0.33504365057919183
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.504627331152733, -0.33504365057919183, -0.0, 0.0]
sum rewards
1.1695836805735411
calc_potential: self.walk_target_dist
997.876374565
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5049266781788901
electricity_cost
-0.3708245021675336
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5049266781788901, -0.3708245021675336, -0.0, 0.0]
sum rewards
1.1341021760113565
calc_potential: self.walk_target_dist
997.868036562
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5053335218472057
electricity_cost
-0.4148404698760829
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.5053335218472057, -0.4148404698760829, -0.0, 0.0]
sum rewards
1.090493051971123
calc_potential: self.walk_target_dist
997.859688908
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5059183941120864
electricity_cost
-0.44450522630250877
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.5059183941120864, -0.44450522630250877, -0.1, 0.0]
sum rewards
0.9614131678095778
calc_potential: self.walk_target_dist
997.851350257
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5053728072161903
electricity_cost
-0.594711228768773
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5053728072161903, -0.594711228768773, -0.2, 0.0]
sum rewards
0.7106615784474173
calc_potential: self.walk_target_dist
997.842980435
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5072619315906195
electricity_cost
-0.48069813335398176
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5072619315906195, -0.48069813335398176, -0.2, 0.0]
sum rewards
0.8265637982366378
calc_potential: self.walk_target_dist
997.83458725
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5086778529075673
electricity_cost
-0.5273200853215989
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5086778529075673, -0.5273200853215989, -0.2, 0.0]
sum rewards
0.7813577675859684
calc_potential: self.walk_target_dist
997.826185755
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5091815355408471
electricity_cost
-0.5367894173533887
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5091815355408471, -0.5367894173533887, -0.2, 0.0]
sum rewards
0.7723921181874585
calc_potential: self.walk_target_dist
997.817765299
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5103306895325659
electricity_cost
-0.5127287102946116
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5103306895325659, -0.5127287102946116, -0.2, 0.0]
sum rewards
0.7976019792379543
calc_potential: self.walk_target_dist
997.80932829
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5113338553055655
electricity_cost
-0.48380073880312546
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5113338553055655, -0.48380073880312546, -0.2, 0.0]
sum rewards
0.8275331165024402
calc_potential: self.walk_target_dist
997.800878887
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5120850130697363
electricity_cost
-0.4608814167936368
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5120850130697363, -0.4608814167936368, -0.2, 0.0]
sum rewards
0.8512035962760995
calc_potential: self.walk_target_dist
997.792420876
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5126067215169314
electricity_cost
-0.462367930692326
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5126067215169314, -0.462367930692326, -0.2, 0.0]
sum rewards
0.8502387908246054
calc_potential: self.walk_target_dist
997.783955683
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5130420213536127
electricity_cost
-0.4737606896368487
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5130420213536127, -0.4737606896368487, -0.2, 0.0]
sum rewards
0.839281331716764
calc_potential: self.walk_target_dist
997.775483232
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5134819132872508
electricity_cost
-0.45982179728070055
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5134819132872508, -0.45982179728070055, -0.2, 0.0]
sum rewards
0.8536601160065502
calc_potential: self.walk_target_dist
997.767004681
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5138515626458684
electricity_cost
-0.4765053228620359
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5138515626458684, -0.4765053228620359, -0.2, 0.0]
sum rewards
0.8373462397838325
calc_potential: self.walk_target_dist
997.758525702
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5138774918814306
electricity_cost
-0.5004492748644979
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.5138774918814306, -0.5004492748644979, -0.2, 0.0]
sum rewards
0.8134282170169327
calc_potential: self.walk_target_dist
997.750046182
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5139102941539022
electricity_cost
-0.4927919247030889
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5139102941539022, -0.4927919247030889, -0.30000000000000004, 0.0]
sum rewards
0.7211183694508132
calc_potential: self.walk_target_dist
997.741548695
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5149992199003464
electricity_cost
-0.46855022288266085
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5149992199003464, -0.46855022288266085, -0.30000000000000004, 0.0]
sum rewards
0.7464489970176855
calc_potential: self.walk_target_dist
997.733022811
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5167202495358652
electricity_cost
-0.4762080485761069
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5167202495358652, -0.4762080485761069, -0.30000000000000004, 0.0]
sum rewards
0.7405122009597582
calc_potential: self.walk_target_dist
997.724461222
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5188841762574157
electricity_cost
-0.3265239405110365
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5188841762574157, -0.3265239405110365, -0.30000000000000004, 0.0]
sum rewards
0.8923602357463791
calc_potential: self.walk_target_dist
997.715856028
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5215269225736847
electricity_cost
-0.28359882342964415
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5215269225736847, -0.28359882342964415, -0.30000000000000004, 0.0]
sum rewards
0.9379280991440406
calc_potential: self.walk_target_dist
997.707238776
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5222576796222711
electricity_cost
-0.295149887593002
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5222576796222711, -0.295149887593002, -0.30000000000000004, 0.0]
sum rewards
0.927107792029269
calc_potential: self.walk_target_dist
997.69862505
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5220440213815891
electricity_cost
-0.2686367392112883
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5220440213815891, -0.2686367392112883, -0.30000000000000004, 0.0]
sum rewards
0.9534072821703008
calc_potential: self.walk_target_dist
997.69010713
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.5162375479776529
electricity_cost
-0.35838839002500916
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.5162375479776529, -0.35838839002500916, -0.30000000000000004, 0.0]
sum rewards
0.8578491579526437
calc_potential: self.walk_target_dist
997.68294749
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43391760068334406
electricity_cost
-1.1483686534384203
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.43391760068334406, -1.1483686534384203, -0.2, 0.0]
sum rewards
0.08554894724492373
calc_potential: self.walk_target_dist
997.675696325
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.439464513794519
electricity_cost
-1.055307840175184
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.439464513794519, -1.055307840175184, -0.2, 0.0]
sum rewards
0.1841566736193349
calc_potential: self.walk_target_dist
997.668487795
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4368806390921236
electricity_cost
-0.9972565172608558
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.4368806390921236, -0.9972565172608558, -0.30000000000000004, 0.0]
sum rewards
0.1396241218312677
calc_potential: self.walk_target_dist
997.661234757
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43957802969089244
electricity_cost
-0.971906731059867
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.43957802969089244, -0.971906731059867, -0.30000000000000004, 0.0]
sum rewards
0.16767129863102537
calc_potential: self.walk_target_dist
997.654054696
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4351552097577951
electricity_cost
-0.8610325119305468
joints_at_limit_cost
-0.30000000000000004
feet_collision_cost
0.0
rewards=
[1.0, 0.4351552097577951, -0.8610325119305468, -0.30000000000000004, 0.0]
sum rewards
0.2741226978272483
calc_potential: self.walk_target_dist
997.646941663
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43109291089785984
electricity_cost
-0.8223039152797462
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.43109291089785984, -0.8223039152797462, -0.2, 0.0]
sum rewards
0.4087889956181136
calc_potential: self.walk_target_dist
997.63989336
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4271698880693293
electricity_cost
-0.7982041681682936
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4271698880693293, -0.7982041681682936, -0.1, 0.0]
sum rewards
0.5289657199010357
calc_potential: self.walk_target_dist
997.633460356
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3898790203675162
electricity_cost
-0.9853363286987621
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3898790203675162, -0.9853363286987621, -0.1, 0.0]
sum rewards
0.30454269166875414
calc_potential: self.walk_target_dist
997.627082977
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3865078621020075
electricity_cost
-1.0141893139815603
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3865078621020075, -1.0141893139815603, -0.1, 0.0]
sum rewards
0.2723185481204472
calc_potential: self.walk_target_dist
997.620644378
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.39021810172562255
electricity_cost
-0.8458514262589535
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.39021810172562255, -0.8458514262589535, -0.1, 0.0]
sum rewards
0.4443666754666691
calc_potential: self.walk_target_dist
997.614564701
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.36846529393369565
electricity_cost
-0.904610935743525
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.36846529393369565, -0.904610935743525, -0.1, 0.0]
sum rewards
0.36385435819017065
calc_potential: self.walk_target_dist
997.609785749
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.28963344739895547
electricity_cost
-1.1620167126941168
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.28963344739895547, -1.1620167126941168, -0.1, 0.0]
sum rewards
0.02761673470483869
calc_potential: self.walk_target_dist
997.604991257
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.29057528846897185
electricity_cost
-1.3451578209016242
joints_at_limit_cost
-0.2
feet_collision_cost
0.0
rewards=
[1.0, 0.29057528846897185, -1.3451578209016242, -0.2, 0.0]
sum rewards
-0.25458253243265233
calc_potential: self.walk_target_dist
997.60015567
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2930658298864728
electricity_cost
-1.258407179445939
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.2930658298864728, -1.258407179445939, -0.1, 0.0]
sum rewards
-0.06534134955946627
calc_potential: self.walk_target_dist
997.595252915
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.2971366658748593
electricity_cost
-0.852520971006201
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.2971366658748593, -0.852520971006201, -0.1, 0.0]
sum rewards
0.3446156948686584
calc_potential: self.walk_target_dist
997.590278572
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.30147533259150805
electricity_cost
-0.8466421293472267
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.30147533259150805, -0.8466421293472267, -0.1, 0.0]
sum rewards
0.35483320324428136
calc_potential: self.walk_target_dist
997.585239245
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.30541380602517165
electricity_cost
-0.8752384552675785
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.30541380602517165, -0.8752384552675785, -0.1, 0.0]
sum rewards
0.3301753507575932
calc_potential: self.walk_target_dist
997.580112504
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.31071156974940095
electricity_cost
-0.8163137475115986
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.31071156974940095, -0.8163137475115986, -0.1, 0.0]
sum rewards
0.3943978222378024
calc_potential: self.walk_target_dist
997.574885887
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3167646507281461
electricity_cost
-0.7910913907262331
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3167646507281461, -0.7910913907262331, -0.1, 0.0]
sum rewards
0.42567326000191297
calc_potential: self.walk_target_dist
997.569559557
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3228078536631074
electricity_cost
-0.8038624393723094
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3228078536631074, -0.8038624393723094, -0.1, 0.0]
sum rewards
0.418945414290798
calc_potential: self.walk_target_dist
997.564135268
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.32874482100305613
electricity_cost
-0.844943305792057
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.32874482100305613, -0.844943305792057, -0.1, 0.0]
sum rewards
0.38380151521099914
calc_potential: self.walk_target_dist
997.558615269
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.33454535080090864
electricity_cost
-0.8881850208529077
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.33454535080090864, -0.8881850208529077, -0.1, 0.0]
sum rewards
0.3463603299480009
calc_potential: self.walk_target_dist
997.553000476
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3402905072798603
electricity_cost
-0.9244675092752342
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.3402905072798603, -0.9244675092752342, -0.1, 0.0]
sum rewards
0.3158229980046261
calc_potential: self.walk_target_dist
997.547291054
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.34602558663027594
electricity_cost
-1.1505801187341305
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.34602558663027594, -1.1505801187341305, -0.0, 0.0]
sum rewards
0.19544546789614547
calc_potential: self.walk_target_dist
997.541479941
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3521886382441153
electricity_cost
-1.2374708898762967
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3521886382441153, -1.2374708898762967, -0.0, 0.0]
sum rewards
0.11471774836781856
calc_potential: self.walk_target_dist
997.535558207
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.3588930110781803
electricity_cost
-1.3431477119264303
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.3588930110781803, -1.3431477119264303, -0.0, 0.0]
sum rewards
0.015745299151749936
calc_potential: self.walk_target_dist
997.529538602
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.36482454829092603
electricity_cost
-1.3873617686009083
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.36482454829092603, -1.3873617686009083, -0.0, 0.0]
sum rewards
-0.022537220309982287
calc_potential: self.walk_target_dist
997.523325664
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.37654165668209316
electricity_cost
-1.3469999233674577
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.37654165668209316, -1.3469999233674577, -0.0, 0.0]
sum rewards
0.0295417333146355
calc_potential: self.walk_target_dist
997.516893141
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.38984992052428424
electricity_cost
-1.307150676555716
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.38984992052428424, -1.307150676555716, -0.0, 0.0]
sum rewards
0.08269924396856831
calc_potential: self.walk_target_dist
997.51024592
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4028618515585549
electricity_cost
-1.2668478370256135
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4028618515585549, -1.2668478370256135, -0.0, 0.0]
sum rewards
0.13601401453294137
calc_potential: self.walk_target_dist
997.503388297
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.41561354083387414
electricity_cost
-1.2289870153946543
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.41561354083387414, -1.2289870153946543, -0.0, 0.0]
sum rewards
0.18662652543921987
calc_potential: self.walk_target_dist
997.496327338
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4279369084179052
electricity_cost
-1.1976637726183916
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4279369084179052, -1.1976637726183916, -0.0, 0.0]
sum rewards
0.23027313579951358
calc_potential: self.walk_target_dist
997.489070239
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.43982416697690496
electricity_cost
-1.19032924475826
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.43982416697690496, -1.19032924475826, -0.0, 0.0]
sum rewards
0.2494949222186449
calc_potential: self.walk_target_dist
997.481625708
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.45118366505630547
electricity_cost
-1.100411818670288
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.45118366505630547, -1.100411818670288, -0.0, 0.0]
sum rewards
0.35077184638601744
calc_potential: self.walk_target_dist
997.474002936
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46198619557981146
electricity_cost
-0.9535388568613585
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.46198619557981146, -0.9535388568613585, -0.0, 0.0]
sum rewards
0.5084473387184529
calc_potential: self.walk_target_dist
997.466214719
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47201319180749124
electricity_cost
-0.8296132810085878
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.47201319180749124, -0.8296132810085878, -0.0, 0.0]
sum rewards
0.6423999107989035
calc_potential: self.walk_target_dist
997.458283066
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48070621080114506
electricity_cost
-0.7464314868607992
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48070621080114506, -0.7464314868607992, -0.0, 0.0]
sum rewards
0.7342747239403459
calc_potential: self.walk_target_dist
997.450234034
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4878201000537956
electricity_cost
-0.43769472360120626
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4878201000537956, -0.43769472360120626, -0.1, 0.0]
sum rewards
0.9501253764525893
calc_potential: self.walk_target_dist
997.442150424
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4899158109110431
electricity_cost
-1.5013177336681494
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4899158109110431, -1.5013177336681494, -0.1, 0.0]
sum rewards
-0.11140192275710628
calc_potential: self.walk_target_dist
997.434104949
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48760449875408085
electricity_cost
-1.3278722424138938
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.48760449875408085, -1.3278722424138938, -0.1, 0.0]
sum rewards
0.05973225634018706
calc_potential: self.walk_target_dist
997.426079708
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48637828552455176
electricity_cost
-1.17078193463758
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.48637828552455176, -1.17078193463758, -0.1, 0.0]
sum rewards
0.21559635088697168
calc_potential: self.walk_target_dist
997.418068787
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4855103420341038
electricity_cost
-0.9721707453857613
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4855103420341038, -0.9721707453857613, -0.1, 0.0]
sum rewards
0.4133395966483425
calc_potential: self.walk_target_dist
997.410067912
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4849014979408821
electricity_cost
-0.7683740183749517
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4849014979408821, -0.7683740183749517, -0.1, 0.0]
sum rewards
0.6165274795659305
calc_potential: self.walk_target_dist
997.402073879
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4844868349391618
electricity_cost
-0.6396868869728035
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4844868349391618, -0.6396868869728035, -0.1, 0.0]
sum rewards
0.7447999479663583
calc_potential: self.walk_target_dist
997.394084712
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48419194205780514
electricity_cost
-0.540667991626337
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.48419194205780514, -0.540667991626337, -0.1, 0.0]
sum rewards
0.8435239504314681
calc_potential: self.walk_target_dist
997.38609864
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4840043746662559
electricity_cost
-0.45120575389174145
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4840043746662559, -0.45120575389174145, -0.1, 0.0]
sum rewards
0.9327986207745146
calc_potential: self.walk_target_dist
997.378128989
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4830091400363017
electricity_cost
-0.6516701309136806
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4830091400363017, -0.6516701309136806, -0.1, 0.0]
sum rewards
0.7313390091226211
calc_potential: self.walk_target_dist
997.370197025
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4807251271486166
electricity_cost
-0.5530074832167714
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.4807251271486166, -0.5530074832167714, -0.1, 0.0]
sum rewards
0.8277176439318452
calc_potential: self.walk_target_dist
997.362298383
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47870557046553586
electricity_cost
-0.4630329548012581
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.47870557046553586, -0.4630329548012581, -0.1, 0.0]
sum rewards
0.9156726156642777
calc_potential: self.walk_target_dist
997.354434637
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47659066654887283
electricity_cost
-0.3779111720532681
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.47659066654887283, -0.3779111720532681, -0.1, 0.0]
sum rewards
0.9986794944956047
calc_potential: self.walk_target_dist
997.346623264
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47341656072967453
electricity_cost
-0.3748520333623774
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.47341656072967453, -0.3748520333623774, -0.1, 0.0]
sum rewards
0.9985645273672971
calc_potential: self.walk_target_dist
997.338847093
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47128307872480946
electricity_cost
-0.3261637033834292
joints_at_limit_cost
-0.1
feet_collision_cost
0.0
rewards=
[1.0, 0.47128307872480946, -0.3261637033834292, -0.1, 0.0]
sum rewards
1.04511937534138
calc_potential: self.walk_target_dist
997.331109434
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4689490164673771
electricity_cost
-0.28048242075484
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4689490164673771, -0.28048242075484, -0.0, 0.0]
sum rewards
1.188466595712537
calc_potential: self.walk_target_dist
997.323396648
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4674415570407291
electricity_cost
-0.2695260173053193
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4674415570407291, -0.2695260173053193, -0.0, 0.0]
sum rewards
1.1979155397354098
calc_potential: self.walk_target_dist
997.315695131
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4667586436262354
electricity_cost
-0.26749253441447807
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4667586436262354, -0.26749253441447807, -0.0, 0.0]
sum rewards
1.1992661092117574
calc_potential: self.walk_target_dist
997.307992359
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4668346756952815
electricity_cost
-0.27261160719568245
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4668346756952815, -0.27261160719568245, -0.0, 0.0]
sum rewards
1.194223068499599
calc_potential: self.walk_target_dist
997.300275761
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46767258044565096
electricity_cost
-0.2757552026235613
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.46767258044565096, -0.2757552026235613, -0.0, 0.0]
sum rewards
1.1919173778220897
calc_potential: self.walk_target_dist
997.292535286
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.46911970687506255
electricity_cost
-0.27067866684687913
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.46911970687506255, -0.27067866684687913, -0.0, 0.0]
sum rewards
1.1984410400281833
calc_potential: self.walk_target_dist
997.284763288
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47103016058099456
electricity_cost
-0.26592562912731466
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.47103016058099456, -0.26592562912731466, -0.0, 0.0]
sum rewards
1.20510453145368
calc_potential: self.walk_target_dist
997.276953513
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4733197291789111
electricity_cost
-0.2591784225568956
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4733197291789111, -0.2591784225568956, -0.0, 0.0]
sum rewards
1.2141413066220155
calc_potential: self.walk_target_dist
997.269100322
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.47595097736484604
electricity_cost
-0.2617100773135287
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.47595097736484604, -0.2617100773135287, -0.0, 0.0]
sum rewards
1.2142409000513172
calc_potential: self.walk_target_dist
997.261198906
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.4788736968112062
electricity_cost
-0.2596967721427611
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.4788736968112062, -0.2596967721427611, -0.0, 0.0]
sum rewards
1.219176924668445
calc_potential: self.walk_target_dist
997.253245647
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48201568236981984
electricity_cost
-0.25225699024429643
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48201568236981984, -0.25225699024429643, -0.0, 0.0]
sum rewards
1.2297586921255235
calc_potential: self.walk_target_dist
997.245237983
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.485312970369705
electricity_cost
-0.2408046898136944
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.485312970369705, -0.2408046898136944, -0.0, 0.0]
sum rewards
1.2445082805560106
calc_potential: self.walk_target_dist
997.237174866
self.scene.dt
0.0165
self.scene.frame_skip
4
self.scene.timestep
0.004125
alive=
1.0
progress
0.48867372026870726
electricity_cost
-0.2172373633306115
joints_at_limit_cost
-0.0
feet_collision_cost
0.0
rewards=
[1.0, 0.48867372026870726, -0.2172373633306115, -0.0, 0.0]
sum rewards
1.2714363569380958
pybullet build time: Sep  7 2017 14:42:12
Vendor: ATI Technologies Inc.
Renderer: AMD Radeon Pro 560 OpenGL Engine
Version: 4.1 ATI-1.58.30
GLSL: 4.10
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0 
MotionThreadFunc thread started
numActiveThreads = 0
stopping threads
stopThreads: Thread 0 used: 1
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
