diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py')
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py | 24 |
1 files changed, 10 insertions, 14 deletions
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py index 540965a2f..a9492f309 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_randomize_terrain_gym_env.py @@ -42,20 +42,17 @@ class MinitaurRandomizeTerrainGymEnv(minitaur_gym_env.MinitaurGymEnv): fileName=terrain_file_name, flags=1, meshScale=[0.5, 0.5, 0.5]) - self._pybullet_client.createMultiBody(terrain_mass, - terrain_collision_shape_id, - terrain_visual_shape_id, - terrain_position, + self._pybullet_client.createMultiBody(terrain_mass, terrain_collision_shape_id, + terrain_visual_shape_id, terrain_position, terrain_orientation) self._pybullet_client.setGravity(0, 0, -10) - self.minitaur = (minitaur.Minitaur( - pybullet_client=self._pybullet_client, - urdf_root=self._urdf_root, - time_step=self._time_step, - self_collision_enabled=self._self_collision_enabled, - motor_velocity_limit=self._motor_velocity_limit, - pd_control_enabled=self._pd_control_enabled, - on_rack=self._on_rack)) + self.minitaur = (minitaur.Minitaur(pybullet_client=self._pybullet_client, + urdf_root=self._urdf_root, + time_step=self._time_step, + self_collision_enabled=self._self_collision_enabled, + motor_velocity_limit=self._motor_velocity_limit, + pd_control_enabled=self._pd_control_enabled, + on_rack=self._on_rack)) self._last_base_position = [0, 0, 0] for _ in xrange(100): if self._pd_control_enabled: @@ -78,6 +75,5 @@ class MinitaurRandomizeTerrainGymEnv(minitaur_gym_env.MinitaurGymEnv): asset_source = os.path.join(terrain_dir, terrain_file_name) asset_destination = os.path.join(FLAGS.storage_dir, terrain_file_name) gfile.Copy(asset_source, asset_destination, overwrite=True) - terrain_file_name_complete = os.path.join(FLAGS.storage_dir, - terrain_file_name) + terrain_file_name_complete = os.path.join(FLAGS.storage_dir, terrain_file_name) return terrain_file_name_complete |