Merge remote-tracking branch 'bp/master'

9 files changed, 241 insertions, 360 deletions

diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
index 42932a7ed..a50b9b5d6 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
@@ -6,3 +6,4 @@ from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
 from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
 from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
 from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv
+from pybullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
index 696dc268a..294a5984a 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
@@ -102,6 +102,9 @@ class KukaDiverseObjectEnv(KukaGymEnv):
       self.action_space = spaces.Box(low=-1, high=1, shape=(3,))  # dx, dy, da
       if self._removeHeightHack:
         self.action_space = spaces.Box(low=-1, high=1, shape=(4,))  # dx, dy, dz, da
+    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height,
+                                                                self._width,
+                                                                3))
     self.viewer = None
 
   def reset(self):
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py
index 72c619547..103471d35 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/__init__.py
@@ -5,3 +5,4 @@ from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEn
 from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv
 from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv
 from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv
+from pybullet_envs.minitaur.envs.minitaur_extended_env import MinitaurExtendedEnv, MinitaurReactiveEnv
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto
index 79258352a..75face4af 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.proto
@@ -27,7 +27,7 @@ message MinitaurStateAction {
   bool info_valid = 6;
   // The time stamp of this step. It is computed since the reset of the
   // environment.
-  google.protobuf.Timestamp time = 1;
+  robotics.messages.Timestamp time = 1;
   // The position of the base of the minitaur.
   robotics.messages.Vector3d base_position = 2;
   // The orientation of the base of the minitaur. It is represented as (roll,
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py
index 9650c4b24..afb70dd33 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging_pb2.py
@@ -1,288 +1,182 @@
+# -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: minitaur_logging.proto
-
-import sys
-
-import os, inspect
-currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-parentdir = os.path.dirname(os.path.dirname(currentdir))
-os.sys.path.insert(0, parentdir)
-
-_b = sys.version_info[0] < 3 and (lambda x: x) or (lambda x: x.encode('latin1'))
+"""Generated protocol buffer code."""
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
 
+
 from pybullet_envs.minitaur.envs import timestamp_pb2 as timestamp__pb2
-from pybullet_envs.minitaur.envs import vector_pb2 as vector__pb2
+from pybullet_envs.minitaur.envs import  vector_pb2 as vector__pb2
+
 
 DESCRIPTOR = _descriptor.FileDescriptor(
-    name='minitaur_logging.proto',
-    package='robotics.reinforcement_learning.minitaur.envs',
-    syntax='proto3',
-    serialized_pb=_b(
-        '\n\x16minitaur_logging.proto\x12-robotics.reinforcement_learning.minitaur.envs\x1a\x0ftimestamp.proto\x1a\x0cvector.proto\"k\n\x0fMinitaurEpisode\x12X\n\x0cstate_action\x18\x01 \x03(\x0b\x32\x42.robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction\"U\n\x12MinitaurMotorState\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08velocity\x18\x02 \x01(\x01\x12\x0e\n\x06torque\x18\x03 \x01(\x01\x12\x0e\n\x06\x61\x63tion\x18\x04 \x01(\x01\"\xce\x02\n\x13MinitaurStateAction\x12\x12\n\ninfo_valid\x18\x06 \x01(\x08\x12(\n\x04time\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x32\n\rbase_position\x18\x02 \x01(\x0b\x32\x1b.robotics.messages.Vector3d\x12\x35\n\x10\x62\x61se_orientation\x18\x03 \x01(\x0b\x32\x1b.robotics.messages.Vector3d\x12\x35\n\x10\x62\x61se_angular_vel\x18\x04 \x01(\x0b\x32\x1b.robotics.messages.Vector3d\x12W\n\x0cmotor_states\x18\x05 \x03(\x0b\x32\x41.robotics.reinforcement_learning.minitaur.envs.MinitaurMotorStateb\x06proto3'
-    ),
-    dependencies=[
-        timestamp__pb2.DESCRIPTOR,
-        vector__pb2.DESCRIPTOR,
-    ])
+  name='minitaur_logging.proto',
+  package='robotics.reinforcement_learning.minitaur.envs',
+  syntax='proto3',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x16minitaur_logging.proto\x12-robotics.reinforcement_learning.minitaur.envs\x1a\x0ftimestamp.proto\x1a\x0cvector.proto\"k\n\x0fMinitaurEpisode\x12X\n\x0cstate_action\x18\x01 \x03(\x0b\x32\x42.robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction\"U\n\x12MinitaurMotorState\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08velocity\x18\x02 \x01(\x01\x12\x0e\n\x06torque\x18\x03 \x01(\x01\x12\x0e\n\x06\x61\x63tion\x18\x04 \x01(\x01\"\xd0\x02\n\x13MinitaurStateAction\x12\x12\n\ninfo_valid\x18\x06 \x01(\x08\x12*\n\x04time\x18\x01 \x01(\x0b\x32\x1c.robotics.messages.Timestamp\x12\x32\n\rbase_position\x18\x02 \x01(\x0b\x32\x1b.robotics.messages.Vector3d\x12\x35\n\x10\x62\x61se_orientation\x18\x03 \x01(\x0b\x32\x1b.robotics.messages.Vector3d\x12\x35\n\x10\x62\x61se_angular_vel\x18\x04 \x01(\x0b\x32\x1b.robotics.messages.Vector3d\x12W\n\x0cmotor_states\x18\x05 \x03(\x0b\x32\x41.robotics.reinforcement_learning.minitaur.envs.MinitaurMotorStateb\x06proto3'
+  ,
+  dependencies=[timestamp__pb2.DESCRIPTOR,vector__pb2.DESCRIPTOR,])
+
+
+
 
 _MINITAUREPISODE = _descriptor.Descriptor(
-    name='MinitaurEpisode',
-    full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurEpisode',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='state_action',
-            full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurEpisode.state_action',
-            index=0,
-            number=1,
-            type=11,
-            cpp_type=10,
-            label=3,
-            has_default_value=False,
-            default_value=[],
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-    ],
-    extensions=[],
-    nested_types=[],
-    enum_types=[],
-    options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[],
-    serialized_start=104,
-    serialized_end=211,
+  name='MinitaurEpisode',
+  full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurEpisode',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='state_action', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurEpisode.state_action', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=104,
+  serialized_end=211,
 )
 
+
 _MINITAURMOTORSTATE = _descriptor.Descriptor(
-    name='MinitaurMotorState',
-    full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='angle',
-            full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.angle',
-            index=0,
-            number=1,
-            type=1,
-            cpp_type=5,
-            label=1,
-            has_default_value=False,
-            default_value=float(0),
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='velocity',
-            full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.velocity',
-            index=1,
-            number=2,
-            type=1,
-            cpp_type=5,
-            label=1,
-            has_default_value=False,
-            default_value=float(0),
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='torque',
-            full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.torque',
-            index=2,
-            number=3,
-            type=1,
-            cpp_type=5,
-            label=1,
-            has_default_value=False,
-            default_value=float(0),
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='action',
-            full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.action',
-            index=3,
-            number=4,
-            type=1,
-            cpp_type=5,
-            label=1,
-            has_default_value=False,
-            default_value=float(0),
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-    ],
-    extensions=[],
-    nested_types=[],
-    enum_types=[],
-    options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[],
-    serialized_start=213,
-    serialized_end=298,
+  name='MinitaurMotorState',
+  full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='angle', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.angle', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.velocity', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='torque', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.torque', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='action', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState.action', index=3,
+      number=4, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=213,
+  serialized_end=298,
 )
 
+
 _MINITAURSTATEACTION = _descriptor.Descriptor(
-    name='MinitaurStateAction',
-    full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    fields=[
-        _descriptor.FieldDescriptor(
-            name='info_valid',
-            full_name=
-            'robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.info_valid',
-            index=0,
-            number=6,
-            type=8,
-            cpp_type=7,
-            label=1,
-            has_default_value=False,
-            default_value=False,
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='time',
-            full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.time',
-            index=1,
-            number=1,
-            type=11,
-            cpp_type=10,
-            label=1,
-            has_default_value=False,
-            default_value=None,
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='base_position',
-            full_name=
-            'robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.base_position',
-            index=2,
-            number=2,
-            type=11,
-            cpp_type=10,
-            label=1,
-            has_default_value=False,
-            default_value=None,
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='base_orientation',
-            full_name=
-            'robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.base_orientation',
-            index=3,
-            number=3,
-            type=11,
-            cpp_type=10,
-            label=1,
-            has_default_value=False,
-            default_value=None,
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='base_angular_vel',
-            full_name=
-            'robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.base_angular_vel',
-            index=4,
-            number=4,
-            type=11,
-            cpp_type=10,
-            label=1,
-            has_default_value=False,
-            default_value=None,
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(
-            name='motor_states',
-            full_name=
-            'robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.motor_states',
-            index=5,
-            number=5,
-            type=11,
-            cpp_type=10,
-            label=3,
-            has_default_value=False,
-            default_value=[],
-            message_type=None,
-            enum_type=None,
-            containing_type=None,
-            is_extension=False,
-            extension_scope=None,
-            options=None,
-            file=DESCRIPTOR),
-    ],
-    extensions=[],
-    nested_types=[],
-    enum_types=[],
-    options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[],
-    serialized_start=301,
-    serialized_end=635,
+  name='MinitaurStateAction',
+  full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='info_valid', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.info_valid', index=0,
+      number=6, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='time', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.time', index=1,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='base_position', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.base_position', index=2,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='base_orientation', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.base_orientation', index=3,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='base_angular_vel', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.base_angular_vel', index=4,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='motor_states', full_name='robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction.motor_states', index=5,
+      number=5, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=301,
+  serialized_end=637,
 )
 
 _MINITAUREPISODE.fields_by_name['state_action'].message_type = _MINITAURSTATEACTION
@@ -296,34 +190,26 @@ DESCRIPTOR.message_types_by_name['MinitaurMotorState'] = _MINITAURMOTORSTATE
 DESCRIPTOR.message_types_by_name['MinitaurStateAction'] = _MINITAURSTATEACTION
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
-MinitaurEpisode = _reflection.GeneratedProtocolMessageType(
-    'MinitaurEpisode',
-    (_message.Message,),
-    dict(
-        DESCRIPTOR=_MINITAUREPISODE,
-        __module__='minitaur_logging_pb2'
-        # @@protoc_insertion_point(class_scope:robotics.reinforcement_learning.minitaur.envs.MinitaurEpisode)
-    ))
+MinitaurEpisode = _reflection.GeneratedProtocolMessageType('MinitaurEpisode', (_message.Message,), {
+  'DESCRIPTOR' : _MINITAUREPISODE,
+  '__module__' : 'minitaur_logging_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.reinforcement_learning.minitaur.envs.MinitaurEpisode)
+  })
 _sym_db.RegisterMessage(MinitaurEpisode)
 
-MinitaurMotorState = _reflection.GeneratedProtocolMessageType(
-    'MinitaurMotorState',
-    (_message.Message,),
-    dict(
-        DESCRIPTOR=_MINITAURMOTORSTATE,
-        __module__='minitaur_logging_pb2'
-        # @@protoc_insertion_point(class_scope:robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState)
-    ))
+MinitaurMotorState = _reflection.GeneratedProtocolMessageType('MinitaurMotorState', (_message.Message,), {
+  'DESCRIPTOR' : _MINITAURMOTORSTATE,
+  '__module__' : 'minitaur_logging_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.reinforcement_learning.minitaur.envs.MinitaurMotorState)
+  })
 _sym_db.RegisterMessage(MinitaurMotorState)
 
-MinitaurStateAction = _reflection.GeneratedProtocolMessageType(
-    'MinitaurStateAction',
-    (_message.Message,),
-    dict(
-        DESCRIPTOR=_MINITAURSTATEACTION,
-        __module__='minitaur_logging_pb2'
-        # @@protoc_insertion_point(class_scope:robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction)
-    ))
+MinitaurStateAction = _reflection.GeneratedProtocolMessageType('MinitaurStateAction', (_message.Message,), {
+  'DESCRIPTOR' : _MINITAURSTATEACTION,
+  '__module__' : 'minitaur_logging_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.reinforcement_learning.minitaur.envs.MinitaurStateAction)
+  })
 _sym_db.RegisterMessage(MinitaurStateAction)
 
+
 # @@protoc_insertion_point(module_scope)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py
index 8135b7265..446a3156a 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_stand_gym_env.py
@@ -167,7 +167,7 @@ class MinitaurStandGymEnv(minitaur_gym_env.MinitaurGymEnv):
     # Use the one dimensional action to rotate both bottom legs.
     action_delta = [0, 0, -action, action, 0, 0, action, -action]
     action_all_legs = map(add, action_all_legs, action_delta)
-    return action_all_legs
+    return list(action_all_legs)
 
   def _policy_flip(self, time_step, orientation):
     """Hand coded policy to make the minitaur stand up to its two legs.
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp.proto b/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp.proto
index b67072deb..93476fc09 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp.proto
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp.proto
@@ -1,6 +1,6 @@
 syntax = "proto3";
 
-package google.protobuf;
+package robotics.messages;
 
 message Timestamp {
 
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py
index bd1bf7703..bed88d0fd 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/timestamp_pb2.py
@@ -1,87 +1,77 @@
+# -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: timestamp.proto
-
-import sys
-_b = sys.version_info[0] < 3 and (lambda x: x) or (lambda x: x.encode('latin1'))
+"""Generated protocol buffer code."""
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
 
+
+
+
 DESCRIPTOR = _descriptor.FileDescriptor(
-    name='timestamp.proto',
-    package='google.protobuf',
-    syntax='proto3',
-    serialized_pb=_b(
-        '\n\x0ftimestamp.proto\x12\x0fgoogle.protobuf\"+\n\tTimestamp\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05\x62\x06proto3'
-    ))
+  name='timestamp.proto',
+  package='robotics.messages',
+  syntax='proto3',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0ftimestamp.proto\x12\x11robotics.messages\"+\n\tTimestamp\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05\x62\x06proto3'
+)
+
+
+
 
 _TIMESTAMP = _descriptor.Descriptor(
-    name='Timestamp',
-    full_name='google.protobuf.Timestamp',
-    filename=None,
-    file=DESCRIPTOR,
-    containing_type=None,
-    fields=[
-        _descriptor.FieldDescriptor(name='seconds',
-                                    full_name='google.protobuf.Timestamp.seconds',
-                                    index=0,
-                                    number=1,
-                                    type=3,
-                                    cpp_type=2,
-                                    label=1,
-                                    has_default_value=False,
-                                    default_value=0,
-                                    message_type=None,
-                                    enum_type=None,
-                                    containing_type=None,
-                                    is_extension=False,
-                                    extension_scope=None,
-                                    options=None,
-                                    file=DESCRIPTOR),
-        _descriptor.FieldDescriptor(name='nanos',
-                                    full_name='google.protobuf.Timestamp.nanos',
-                                    index=1,
-                                    number=2,
-                                    type=5,
-                                    cpp_type=1,
-                                    label=1,
-                                    has_default_value=False,
-                                    default_value=0,
-                                    message_type=None,
-                                    enum_type=None,
-                                    containing_type=None,
-                                    is_extension=False,
-                                    extension_scope=None,
-                                    options=None,
-                                    file=DESCRIPTOR),
-    ],
-    extensions=[],
-    nested_types=[],
-    enum_types=[],
-    options=None,
-    is_extendable=False,
-    syntax='proto3',
-    extension_ranges=[],
-    oneofs=[],
-    serialized_start=36,
-    serialized_end=79,
+  name='Timestamp',
+  full_name='robotics.messages.Timestamp',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='seconds', full_name='robotics.messages.Timestamp.seconds', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='nanos', full_name='robotics.messages.Timestamp.nanos', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=38,
+  serialized_end=81,
 )
 
 DESCRIPTOR.message_types_by_name['Timestamp'] = _TIMESTAMP
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
-Timestamp = _reflection.GeneratedProtocolMessageType(
-    'Timestamp',
-    (_message.Message,),
-    dict(DESCRIPTOR=_TIMESTAMP,
-         __module__='timestamp_pb2'
-         # @@protoc_insertion_point(class_scope:google.protobuf.Timestamp)
-        ))
+Timestamp = _reflection.GeneratedProtocolMessageType('Timestamp', (_message.Message,), {
+  'DESCRIPTOR' : _TIMESTAMP,
+  '__module__' : 'timestamp_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Timestamp)
+  })
 _sym_db.RegisterMessage(Timestamp)
 
+
 # @@protoc_insertion_point(module_scope)
diff --git a/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp b/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
index 145de62db..f6c779a91 100644
--- a/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
+++ b/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
@@ -851,12 +851,12 @@ void bFile::swapData(char *data, short type, int arraySize, bool ignoreEndianFla
 
 void bFile::safeSwapPtr(char *dst, const char *src)
 {
+	if (!src || !dst)
+		return;
+
 	int ptrFile = mFileDNA->getPointerSize();
 	int ptrMem = mMemoryDNA->getPointerSize();
 
-	if (!src && !dst)
-		return;
-
 	if (ptrFile == ptrMem)
 	{
 		memcpy(dst, src, ptrMem);