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Merge pull request #1698 from erwincoumans/master

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PyBullet: :wminor Gym fixes
This commit is contained in:
erwincoumans
2018-05-23 08:19:47 +10:00
committed by GitHub
parent f74110a4c0 f5952a73e7
commit 57e02ae15a
4 changed files with 14 additions and 3 deletions
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12
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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@@ -188,8 +188,20 @@ void readLibraryGeometries(XMLDocument& doc, btAlignedObjectArray<GLInstanceGrap
}
vertexSources.insert(vertexId,vs);
btAlignedObjectArray<XMLElement*> trianglesAndPolylists;
for (XMLElement* primitive = mesh->FirstChildElement("triangles"); primitive; primitive = primitive->NextSiblingElement("triangles"))
{
trianglesAndPolylists.push_back(primitive);
}
for (XMLElement* primitive = mesh->FirstChildElement("polylist"); primitive; primitive = primitive->NextSiblingElement("polylist"))
{
trianglesAndPolylists.push_back(primitive);
}
for (int i=0;i<trianglesAndPolylists.size();i++)
{
XMLElement* primitive = trianglesAndPolylists[i];
std::string positionSourceName;
std::string normalSourceName;
int primitiveCount;

1
examples/pybullet/gym/pybullet_envs/bullet/__init__.py
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@@ -3,6 +3,5 @@ from pybullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv
from pybullet_envs.bullet.minitaur_duck_gym_env import MinitaurBulletDuckEnv
from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv

2
examples/pybullet/gym/pybullet_envs/scene_abstract.py
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@@ -39,7 +39,7 @@ class Scene:
"""
return not self.multiplayer
def episode_restart(self):
def episode_restart(self, bullet_client):
"This function gets overridden by specific scene, to reset specific objects into their start positions"
self.cpp_world.clean_everything()
#self.cpp_world.test_window_history_reset()

2
examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -17,7 +17,7 @@ class StadiumScene(Scene):
def episode_restart(self, bullet_client):
self._p = bullet_client
Scene.episode_restart(self) # contains cpp_world.clean_everything()
Scene.episode_restart(self, bullet_client) # contains cpp_world.clean_everything()
if (self.stadiumLoaded==0):
self.stadiumLoaded=1