merge

JanMatas · Mar 8, 2018 · 44ce256 · 44ce256
2 parents 4d85f1c + 2e01bf4
commit 44ce256
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Showing 4 changed files with 9 additions and 3 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "src/gym"]
 	path = src/gym
 	url = https://github.com/openai/gym.git
+[submodule "bullet3"]
+	path = bullet3
+	url = https://github.com/JanMatas/bullet3
diff --git a/bullet3 b/bullet3
diff --git a/src/Mico.py b/src/Mico.py
@@ -1,7 +1,7 @@
 import math
 import sys
 
-micoUrdf = "/Users/janmatas/fyp/mico_description/urdf/mico.urdf"
+micoUrdf = "../mico_description/urdf/mico.urdf"
 class Mico:
     def __init__(self,p, spawnPos=[0,0,0], enableDebug=False):
         self.p = p

diff --git a/src/micoenv/bullet_robot_env.py b/src/micoenv/bullet_robot_env.py
@@ -16,7 +16,7 @@
 
 
 import sys
-sys.path.insert(1, "/Users/janmatas/bullet_new/build_cmake/examples/pybullet")
+sys.path.insert(1, "../bullet3/build_cmake/examples/pybullet")
 
 
 def goal_distance(goal_a, goal_b):
@@ -44,6 +44,8 @@ def __init__(self, n_actions, n_substeps, useDone=True):
         self.goal = self._sample_goal()
         obs = self._get_obs()
         self.action_space = spaces.Box(-0.01, 0.01, shape=(n_actions,), dtype='float32')
+
+
         self.observation_space = spaces.Dict(dict(
             desired_goal=spaces.Box(-np.inf, np.inf, shape=obs['achieved_goal'].shape, dtype='float32'),
             achieved_goal=spaces.Box(-np.inf, np.inf, shape=obs['achieved_goal'].shape, dtype='float32'),
@@ -190,4 +192,4 @@ def _step_callback(self):
         """A custom callback that is called after stepping the simulation. Can be used
         to enforce additional constraints on the simulation state.
         """
-        pass
+        pass