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update to the latest agent and environment.

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This commit is contained in:
Jie Tan
2017-05-24 11:20:42 -07:00
parent 18fd1a003f
commit 1d0db4ec2e
9 changed files with 24 additions and 12 deletions
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6
examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
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@@ -16,10 +16,14 @@ class MinitaurGymEnv(gym.Env):
def __init__(self,
urdfRoot="",
actionRepeat=1,
isEnableSelfCollision=True,
motorVelocityLimit=10.0,
render=False):
self._timeStep = 0.01
self._urdfRoot = urdfRoot
self._actionRepeat = actionRepeat
self._motorVelocityLimit = motorVelocityLimit
self._isEnableSelfCollision = isEnableSelfCollision
self._observation = []
self._envStepCounter = 0
self._render = render
@@ -44,7 +48,7 @@ class MinitaurGymEnv(gym.Env):
p.setTimeStep(self._timeStep)
p.loadURDF("%splane.urdf" % self._urdfRoot)
p.setGravity(0,0,-10)
self._minitaur = minitaur_new.Minitaur(self._urdfRoot)
self._minitaur = minitaur_new.Minitaur(urdfRootPath=self._urdfRoot, timeStep=self._timeStep, isEnableSelfCollision=self._isEnableSelfCollision, motorVelocityLimit=self._motorVelocityLimit)
self._envStepCounter = 0
self._lastBasePosition = [0, 0, 0]
for i in range(100):