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Humanoid Flagrun Harder, PyBullet version (request from Danijar)

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Fix duplicate ground in all Roboschool converted scenes.
Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)
This commit is contained in:
erwincoumans
2018-01-24 17:53:40 -08:00
parent b8362fff94
commit aba4671358
6 changed files with 33 additions and 12 deletions
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9
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@@ -245,6 +245,9 @@ class BodyPart:
def current_orientation(self):
return self.get_pose()[3:]
def get_orientation(self):
return self.current_orientation()
def reset_position(self, position):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
@@ -252,7 +255,7 @@ class BodyPart:
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
def reset_velocity(self, linearVelocity=[0,0,0], angularVelocity =[0,0,0]):
p.resetBaseVelocity(linearVelocity, angularVelocity)
p.resetBaseVelocity(self.bodies[self.bodyIndex], linearVelocity, angularVelocity)
def reset_pose(self, position, orientation):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
@@ -299,6 +302,10 @@ class Joint:
x, _ = self.get_state()
return x
def get_orientation(self):
_,r = self.get_state()
return r
def get_velocity(self):
_, vx = self.get_state()
return vx