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This commit is contained in:
Justin Terry
2021-07-29 12:42:48 -04:00
parent d5004b7ec1
commit e9d2c41f2b
109 changed files with 459 additions and 1363 deletions
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10
gym/envs/robotics/utils.py
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@@ -75,15 +75,9 @@ def reset_mocap2body_xpos(sim):
values as the bodies they're welded to.
"""
if (
sim.model.eq_type is None
or sim.model.eq_obj1id is None
or sim.model.eq_obj2id is None
):
if sim.model.eq_type is None or sim.model.eq_obj1id is None or sim.model.eq_obj2id is None:
return
for eq_type, obj1_id, obj2_id in zip(
sim.model.eq_type, sim.model.eq_obj1id, sim.model.eq_obj2id
):
for eq_type, obj1_id, obj2_id in zip(sim.model.eq_type, sim.model.eq_obj1id, sim.model.eq_obj2id):
if eq_type != mujoco_py.const.EQ_WELD:
continue