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add actuatornet code

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This commit is contained in:
Erwin Coumans
2019-03-26 10:05:45 -07:00
parent 922b27fb87
commit 2ba8c22397
16 changed files with 32361 additions and 3 deletions
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6
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
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@@ -249,7 +249,8 @@ class MinitaurGymEnv(gym.Env):
self._hard_reset = hard_reset # This assignment need to be after reset()
def close(self):
self.logging.save_episode(self._episode_proto)
if self._env_step_counter>0:
self.logging.save_episode(self._episode_proto)
self.minitaur.Terminate()
def add_env_randomizer(self, env_randomizer):
@@ -258,7 +259,8 @@ class MinitaurGymEnv(gym.Env):
def reset(self, initial_motor_angles=None, reset_duration=1.0):
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_RENDERING, 0)
self.logging.save_episode(self._episode_proto)
if self._env_step_counter>0:
self.logging.save_episode(self._episode_proto)
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
minitaur_logging.preallocate_episode_proto(self._episode_proto,
self._num_steps_to_log)