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pybullet: improvements in Gym Ant environment (work-in-progress)

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This commit is contained in:
Erwin Coumans
2017-09-07 11:06:42 -07:00
parent 7a2de3ea08
commit 3d702879c5
5 changed files with 7 additions and 7 deletions
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4
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@@ -13,7 +13,7 @@ class MJCFBasedRobot:
Base class for mujoco .xml based agents.
"""
self_collision = False
self_collision = True
def __init__(self, model_xml, robot_name, action_dim, obs_dim):
self.parts = None
@@ -87,7 +87,7 @@ class MJCFBasedRobot:
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml)))