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Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo.

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Erwin Coumans
2017-08-23 15:03:57 -07:00
parent a9fb0033a4
commit 8866840712
6 changed files with 20 additions and 20 deletions
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8
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -1,12 +1,12 @@
from .scene_stadium import SinglePlayerStadiumScene
from .env_bases import MujocoXmlBaseBulletEnv
from .env_bases import MJCFBaseBulletEnv
import numpy as np
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
def __init__(self, robot):
MujocoXmlBaseBulletEnv.__init__(self, robot)
MJCFBaseBulletEnv.__init__(self, robot)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
@@ -16,7 +16,7 @@ class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
return self.stadium_scene
def _reset(self):
r = MujocoXmlBaseBulletEnv._reset(self)
r = MJCFBaseBulletEnv._reset(self)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
self.stadium_scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in