Merge pull request #61 from forcecore/fix_mutable

Fix mutable default robot object

Author: benelot

pybulletgym/envs/mujoco/envs/locomotion/humanoid_env.py

@@ -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

pybulletgym/envs/mujoco/robots/locomotors/humanoid.py

@@ -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

pybulletgym/envs/mujoco/robots/robot_bases.py

@@ -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):
@@ -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
 
@@ -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):

pybulletgym/envs/roboschool/envs/locomotion/humanoid_env.py

@@ -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

pybulletgym/envs/roboschool/robots/locomotors/humanoid.py

@@ -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

pybulletgym/envs/roboschool/robots/robot_bases.py

@@ -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):
@@ -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
 
@@ -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):