Merge pull request #8 from rejuvyesh/jkg/stepreset

Fix some step/reset usage

Author: thowell

environments/ant/methods/env.jl

@@ -76,7 +76,7 @@ function ant(;
     return env
 end
 
-function step(env::Environment{Ant}, x, u; 
+function Base.step(env::Environment{Ant}, x, u; 
     gradients=false,
     attitude_decompress=false)
 

environments/pendulum/methods/env.jl

@@ -99,7 +99,7 @@ function get_observation(env::Environment{Pendulum})
     end
 end
 
-function step(env::Environment{Pendulum}, x, u; 
+function Base.step(env::Environment{Pendulum}, x, u; 
     gradients=false,
     attitude_decompress=false)
     mechanism = env.mechanism

test/mechanism.jl

@@ -4,7 +4,7 @@
     env = Dojo.get_environment("pendulum", 
         timestep=timestep, 
         gravity=-10.0);
-    Dojo.reset(env);
+    reset(env);
     Dojo.initialize_pendulum!(env.mechanism, 
         angle=0.25 * π)
     u1 = rand(Dojo.input_dimension(env.mechanism))
@@ -33,7 +33,7 @@
     env = Dojo.get_environment("halfcheetah", 
         timestep=timestep, 
         gravity=-10.0);
-    Dojo.reset(env);
+    reset(env);
 
     # get body 
     @test Dojo.get_body(env.mechanism, :origin).name == :origin
@@ -50,7 +50,7 @@
     env2 = Dojo.get_environment(:halfcheetah, 
         timestep=timestep, 
         gravity=-10.0);
-    Dojo.reset(env);
+    reset(env);
     Dojo.set_maximal_state!(env2.mechanism, zeros(Dojo.maximal_dimension(env2.mechanism)))
     z2 = Dojo.get_maximal_state(env2.mechanism)
     @test norm(z2) < 1.0e-8

test/simulate.jl

@@ -3,7 +3,7 @@
     env = Dojo.get_environment("pendulum", 
         timestep=0.1, 
         gravity=0.0);
-    Dojo.reset(env);
+    reset(env);
 
     # step (no control)
     z1 = Dojo.get_maximal_state(env.mechanism)
@@ -22,7 +22,7 @@ end
     # get environment and simulate
     env = Dojo.get_environment("pendulum",
         timestep=0.1);
-    Dojo.reset(env);
+    reset(env);
     Dojo.initialize_pendulum!(env.mechanism,
         angle=0.25 * π)
     storage = Dojo.simulate!(env.mechanism, 1.0, 
@@ -37,4 +37,4 @@ end
     s = Dojo.generate_storage(env.mechanism, z)
     @test typeof(s) <: Dojo.Storage
     @test Dojo.length(s) == 10
-end
+end

test/visuals.jl

@@ -29,7 +29,7 @@ end
     # get environment and simulate
     env = Dojo.get_environment("halfcheetah", 
         timestep=0.1)
-    Dojo.reset(env)
+    reset(env)
     storage = Dojo.simulate!(env.mechanism, 0.25, 
         record=true, 
         verbose=true);
@@ -43,7 +43,7 @@ end
     vis = Dojo.Visualizer();
     # get environment and simulate
     env = Dojo.get_environment("quadruped", timestep=0.1)
-    Dojo.reset(env)
+    reset(env)
     storage = Dojo.simulate!(env.mechanism, 0.25, 
         record=true, 
         verbose=false)