From 528bd28e34a0959d2c48b84ac60828937003d886 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 31 Dec 2019 18:13:49 -0800
Subject: [PATCH] increase plane from 30 to 200 (to allow quadrupeds to run
 further, not fall off cliff) fix issue with gym.wrappers in
 pybullet_envs.agents.visualize_ppo.py

---
 examples/pybullet/gym/pybullet_data/plane.urdf              | 4 ++--
 examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_data/plane.urdf b/examples/pybullet/gym/pybullet_data/plane.urdf
index b04f67e96..7608290cf 100644
--- a/examples/pybullet/gym/pybullet_data/plane.urdf
+++ b/examples/pybullet/gym/pybullet_data/plane.urdf
@@ -12,7 +12,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="plane.obj" scale="1 1 1"/>
+				<mesh filename="plane100.obj" scale="1 1 1"/>
       </geometry>
        <material name="white">
         <color rgba="1 1 1 1"/>
@@ -21,7 +21,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -5"/>
       <geometry>
-	 	<box size="30 30 10"/>
+	 	<box size="200 200 10"/>
       </geometry>
     </collision>
   </link>
diff --git a/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py b/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py
index 8524b6311..141f93c8f 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py
+++ b/examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py
@@ -26,6 +26,7 @@ from __future__ import print_function
 import os
 
 import gym
+from gym import wrappers
 import tensorflow as tf
 
 from . import tools