ed6df5ff0ecf315d0c7952e1333c29debee251b7,mushroom_rl/environments/pybullet.py,PyBullet,__init__,#PyBullet#Any#Any#Any#Any#Any#Any#Any#Any#,63

Before Change

        // Load model
        self._model_ids = list()
        for file_name in files:
            self._model_ids.append(pybullet.loadURDF(file_name))
        self._model_ids += self._custom_load_models()

        // Read the actuation spec and build the mapping between actions and ids
        // as well as their limits

After Change

            for joint_id in range(pybullet.getNumJoints(model_id)):
                joint_data = pybullet.getJointInfo(model_id, joint_id)
                joint_name = joint_data[1].decode("UTF-8")
                link_name = joint_data[12].decode("UTF-8")
                self._joint_map[joint_name] = (model_id, joint_id)
                self._link_map[link_name] = (model_id, joint_id)

        // Read the actuation spec and build the mapping between actions and ids

Instances