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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): def _reset(self):
if (self.stateId>=0): if (self.stateId>=0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")") #print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
p.restoreState(self.stateId) self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self) r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0): if (self.stateId<0):
self.stateId = self._p.saveState() self.stateId = self._p.saveState()
@@ -59,7 +59,7 @@ class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
def _reset(self): def _reset(self):
if (self.stateId>=0): if (self.stateId>=0):
p.restoreState(self.stateId) self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self) r = MJCFBaseBulletEnv._reset(self)
if (self.stateId<0): if (self.stateId<0):
self.stateId = self._p.saveState() self.stateId = self._p.saveState()

2
examples/pybullet/gym/pybullet_envs/scene_abstract.py
View File

@@ -39,7 +39,7 @@ class Scene:
""" """
return not self.multiplayer 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" "This function gets overridden by specific scene, to reset specific objects into their start positions"
self.cpp_world.clean_everything() self.cpp_world.clean_everything()
#self.cpp_world.test_window_history_reset() #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): def episode_restart(self, bullet_client):
self._p = 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): if (self.stadiumLoaded==0):
self.stadiumLoaded=1 self.stadiumLoaded=1