Merge remote-tracking branch 'bp/master'

examples/pybullet/gym/pybullet_envs/__init__.py

@@ -1,4 +1,10 @@
-from gym.envs.registration import registry, register, make, spec
+import gym
+from gym.envs.registration import registry, make, spec
+def register(id,*args,**kvargs):
+	if id in  registry.env_specs:
+		return
+	else:
+		return gym.envs.registration.register(id,*args,**kvargs)
 
 # ------------bullet-------------
 

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -275,3 +275,11 @@ class KukaGymEnv(gym.Env):
      #print("reward")
     #print(reward)
     return reward
+
+    def reset(self):
+        """Resets the state of the environment and returns an initial observation.
+
+        Returns: observation (object): the initial observation of the
+            space.
+        """
+        return self._reset()

examples/pybullet/gym/pybullet_envs/gym_manipulator_envs.py

@@ -41,7 +41,7 @@ class ReacherBulletEnv(MJCFBaseBulletEnv):
 class PusherBulletEnv(MJCFBaseBulletEnv):
 	def __init__(self):
 		self.robot = Pusher()
-		BaseBulletEnv.__init__(self, self.robot)
+		MJCFBaseBulletEnv.__init__(self, self.robot)
 
 	def create_single_player_scene(self):
 		return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
@@ -95,7 +95,7 @@ class PusherBulletEnv(MJCFBaseBulletEnv):
 class StrikerBulletEnv(MJCFBaseBulletEnv):
 	def __init__(self):
 		self.robot = Striker()
-		BaseBulletEnv.__init__(self, self.robot)
+		MJCFBaseBulletEnv.__init__(self, self.robot)
 		self._striked = False
 		self._min_strike_dist = np.inf
 		self.strike_threshold = 0.1
@@ -171,7 +171,7 @@ class StrikerBulletEnv(MJCFBaseBulletEnv):
 class ThrowerBulletEnv(MJCFBaseBulletEnv):
 	def __init__(self):
 		self.robot = Thrower()
-		BaseBulletEnv.__init__(self, self.robot)
+		MJCFBaseBulletEnv.__init__(self, self.robot)
 
 	def create_single_player_scene(self):
 		return SingleRobotEmptyScene(gravity=0.0, timestep=0.0020, frame_skip=5)