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Fix pendula to use the bullet-client.

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This commit is contained in:
Benelot
2018-05-22 16:40:10 +02:00
parent ea850d1bf1
commit 7b219e0ea6
3 changed files with 4 additions and 4 deletions
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4
examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
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@@ -18,7 +18,7 @@ class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def _reset(self):
if (self.stateId>=0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
p.restoreState(self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()
@@ -59,7 +59,7 @@ class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
def _reset(self):
if (self.stateId>=0):
p.restoreState(self.stateId)
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0):
self.stateId = self._p.saveState()

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
View File

@@ -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