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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans 2018-05-24 15:50:02 +10:00
commit ab7bbf4396
2 changed files with 8 additions and 8 deletions
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4
examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
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@ -18,7 +18,7 @@ class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def _reset(self):
if (self.stateId>=0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
p.restoreState(self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()
@ -59,7 +59,7 @@ class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
def _reset(self):
if (self.stateId>=0):
p.restoreState(self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()

12
examples/pybullet/gym/pybullet_envs/robot_manipulators.py
View File

@ -8,7 +8,7 @@ class Reacher(MJCFBasedRobot):
def __init__(self):
MJCFBasedRobot.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9)
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
self.jdict["target_x"].reset_current_position(
self.np_random.uniform(low=-self.TARG_LIMIT, high=self.TARG_LIMIT), 0)
self.jdict["target_y"].reset_current_position(
@ -56,7 +56,7 @@ class Pusher(MJCFBasedRobot):
def __init__(self):
MJCFBasedRobot.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=55)
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
# parts
self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"]
@ -138,9 +138,9 @@ class Striker(MJCFBasedRobot):
max_object_placement_radius = 0.8
def __init__(self):
MJCFBasedRobot.__init__(self, 'lstriker.xml', 'body0', action_dim=7, obs_dim=55)
MJCFBasedRobot.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=55)
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
# parts
self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"]
@ -230,7 +230,7 @@ class Thrower(MJCFBasedRobot):
def __init__(self):
MJCFBasedRobot.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=48)
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
# parts
self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"]
@ -307,4 +307,4 @@ class Thrower(MJCFBasedRobot):
self.fingertip.pose().xyz(),
self.object.pose().xyz(),
self.target.pose().xyz(),
])
])