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Fix mutable default robot object #61

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Mar 29, 2021
Merged

Fix mutable default robot object #61

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4 changes: 2 additions & 2 deletions pybulletgym/envs/mujoco/envs/locomotion/humanoid_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@


class HumanoidMuJoCoEnv(WalkerBaseMuJoCoEnv):
def __init__(self, robot=Humanoid()):
self.robot = robot
def __init__(self, robot=None):
self.robot = robot if robot is not None else Humanoid()
WalkerBaseMuJoCoEnv.__init__(self, self.robot)
self.electricity_cost = 4.25 * WalkerBaseMuJoCoEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseMuJoCoEnv.stall_torque_cost
2 changes: 1 addition & 1 deletion pybulletgym/envs/mujoco/robots/locomotors/humanoid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ class Humanoid(WalkerBase, MJCFBasedRobot):
self_collision = True
foot_list = ["right_foot", "left_foot"] # "left_hand", "right_hand"

def __init__(self, random_yaw = False, random_lean=False):
def __init__(self, random_yaw=False, random_lean=False):
WalkerBase.__init__(self, power=0.41)
MJCFBasedRobot.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=376)
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
Expand Down
19 changes: 14 additions & 5 deletions pybulletgym/envs/mujoco/robots/robot_bases.py
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Expand Up @@ -140,12 +140,12 @@ class URDFBasedRobot(XmlBasedRobot):
Base class for URDF .xml based robots.
"""

def __init__(self, model_urdf, robot_name, action_dim, obs_dim, basePosition=[0, 0, 0], baseOrientation=[0, 0, 0, 1], fixed_base=False, self_collision=False):
def __init__(self, model_urdf, robot_name, action_dim, obs_dim, basePosition=None, baseOrientation=None, fixed_base=False, self_collision=False):
XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)

self.model_urdf = model_urdf
self.basePosition = basePosition
self.baseOrientation = baseOrientation
self.basePosition = basePosition if basePosition is not None else [0, 0, 0]
self.baseOrientation = baseOrientation if baseOrientation is not None else [0, 0, 0, 1]
self.fixed_base = fixed_base

def reset(self, bullet_client):
Expand Down Expand Up @@ -185,9 +185,14 @@ class SDFBasedRobot(XmlBasedRobot):
Base class for SDF robots in a Scene.
"""

def __init__(self, model_sdf, robot_name, action_dim, obs_dim, basePosition=[0, 0, 0], baseOrientation=[0, 0, 0, 1], fixed_base=False, self_collision=False):
def __init__(self, model_sdf, robot_name, action_dim, obs_dim, basePosition=None, baseOrientation=None, fixed_base=False, self_collision=False):
XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)

if basePosition is None:
basePosition = [0, 0, 0]
if baseOrientation is None:
baseOrientation = [0, 0, 0, 1]

self.model_sdf = model_sdf
self.fixed_base = fixed_base

Expand Down Expand Up @@ -275,7 +280,11 @@ def reset_position(self, position):
def reset_orientation(self, orientation):
self._p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)

def reset_velocity(self, linearVelocity=[0,0,0], angularVelocity =[0,0,0]):
def reset_velocity(self, linearVelocity=None, angularVelocity=None):
if linearVelocity is None:
linearVelocity = [0, 0, 0]
if angularVelocity is None:
angularVelocity = [0, 0, 0]
self._p.resetBaseVelocity(self.bodies[self.bodyIndex], linearVelocity, angularVelocity)

def reset_pose(self, position, orientation):
Expand Down
4 changes: 2 additions & 2 deletions pybulletgym/envs/roboschool/envs/locomotion/humanoid_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@


class HumanoidBulletEnv(WalkerBaseBulletEnv):
def __init__(self, robot=Humanoid()):
self.robot = robot
def __init__(self, robot=None):
self.robot = robot if robot is not None else Humanoid()
WalkerBaseBulletEnv.__init__(self, self.robot)
self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost
Expand Down
2 changes: 1 addition & 1 deletion pybulletgym/envs/roboschool/robots/locomotors/humanoid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ class Humanoid(WalkerBase, MJCFBasedRobot):
self_collision = True
foot_list = ["right_foot", "left_foot"] # "left_hand", "right_hand"

def __init__(self, random_yaw = False, random_lean=False):
def __init__(self, random_yaw=False, random_lean=False):
WalkerBase.__init__(self, power=0.41)
MJCFBasedRobot.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44)
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
Expand Down
19 changes: 14 additions & 5 deletions pybulletgym/envs/roboschool/robots/robot_bases.py
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Original file line number Diff line number Diff line change
Expand Up @@ -137,12 +137,12 @@ class URDFBasedRobot(XmlBasedRobot):
Base class for URDF .xml based robots.
"""

def __init__(self, model_urdf, robot_name, action_dim, obs_dim, basePosition=[0, 0, 0], baseOrientation=[0, 0, 0, 1], fixed_base=False, self_collision=False):
def __init__(self, model_urdf, robot_name, action_dim, obs_dim, basePosition=None, baseOrientation=None, fixed_base=False, self_collision=False):
XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)

self.model_urdf = model_urdf
self.basePosition = basePosition
self.baseOrientation = baseOrientation
self.basePosition = basePosition if basePosition is not None else [0, 0, 0]
self.baseOrientation = baseOrientation if baseOrientation is not None else [0, 0, 0, 1]
self.fixed_base = fixed_base

def reset(self, bullet_client):
Expand Down Expand Up @@ -183,9 +183,14 @@ class SDFBasedRobot(XmlBasedRobot):
Base class for SDF robots in a Scene.
"""

def __init__(self, model_sdf, robot_name, action_dim, obs_dim, basePosition=[0, 0, 0], baseOrientation=[0, 0, 0, 1], fixed_base=False, self_collision=False):
def __init__(self, model_sdf, robot_name, action_dim, obs_dim, basePosition=None, baseOrientation=None, fixed_base=False, self_collision=False):
XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)

if basePosition is None:
basePosition = [0, 0, 0]
if baseOrientation is None:
baseOrientation = [0, 0, 0, 1]

self.model_sdf = model_sdf
self.fixed_base = fixed_base

Expand Down Expand Up @@ -271,7 +276,11 @@ def reset_position(self, position):
def reset_orientation(self, orientation):
self._p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)

def reset_velocity(self, linearVelocity=[0,0,0], angularVelocity =[0,0,0]):
def reset_velocity(self, linearVelocity=None, angularVelocity=None):
if linearVelocity is None:
linearVelocity = [0, 0, 0]
if angularVelocity is None:
angularVelocity = [0, 0, 0]
self._p.resetBaseVelocity(self.bodies[self.bodyIndex], linearVelocity, angularVelocity)

def reset_pose(self, position, orientation):
Expand Down