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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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This commit is contained in:
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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10
examples/pybullet/gym/pybullet_envs/robot_pendula.py
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@@ -1,11 +1,11 @@
from robot_bases import MujocoXmlBasedRobot
from robot_bases import MJCFBasedRobot
import numpy as np
class InvertedPendulum(MujocoXmlBasedRobot):
class InvertedPendulum(MJCFBasedRobot):
swingup = False
force_gain = 12 # TODO: Try to find out why we need to scale the force
def __init__(self):
MujocoXmlBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
def robot_specific_reset(self):
self.pole = self.parts["pole"]
@@ -53,9 +53,9 @@ class InvertedPendulumSwingup(InvertedPendulum):
force_gain = 2.2 # TODO: Try to find out why we need to scale the force
class InvertedDoublePendulum(MujocoXmlBasedRobot):
class InvertedDoublePendulum(MJCFBasedRobot):
def __init__(self):
MujocoXmlBasedRobot.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
MJCFBasedRobot.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
def robot_specific_reset(self):
self.pole2 = self.parts["pole2"]