From a0a1c9347c74381aa27cd66d8d2c20f9e296a730 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Wed, 23 May 2018 00:18:17 +1000
Subject: [PATCH 1/3] PyBullet: fix in Gym env

---
 examples/pybullet/gym/pybullet_envs/scene_abstract.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/gym/pybullet_envs/scene_abstract.py b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
index cc74839c8..b50dd524b 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
@@ -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()

From 9a706d9cfd4f1fa65d3e848d78c75f78b24e8b2c Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Wed, 23 May 2018 00:24:03 +1000
Subject: [PATCH 2/3] PyBullet: fix Gym envs

---
 examples/pybullet/gym/pybullet_envs/scene_stadium.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
index 8aef2552c..c105983db 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
@@ -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
 			

From f5952a73e77a5f9fcb0ba0fdc179e7ad519fd5be Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 23 May 2018 00:28:49 +1000
Subject: [PATCH 3/3] UrdfImporter: Collada DAE, rudimentary support for
 polylist (for ANYmal), assumes all polygons have 3 vertices remove obsolete
 env from __init__.py

---
 .../ImportColladaDemo/LoadMeshFromCollada.cpp        | 12 ++++++++++++
 .../pybullet/gym/pybullet_envs/bullet/__init__.py    |  1 -
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
index f5c5cc563..47fa737d8 100644
--- a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+++ b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
@@ -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;
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
index 4c08abbba..75c133276 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
@@ -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