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Merge pull request #1866 from jna29/bug-fix/robot-manipulators-errors

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Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint
This commit is contained in:
erwincoumans
2018-09-08 18:53:47 -07:00
committed by GitHub
parent cc91b4a7cf cc4c02edc7
commit 377a89c09c
1 changed files with 6 additions and 6 deletions
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12
examples/pybullet/gym/pybullet_envs/robot_manipulators.py
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@@ -105,7 +105,7 @@ class Pusher(MJCFBasedRobot):
self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.forearm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
@@ -115,7 +115,7 @@ class Pusher(MJCFBasedRobot):
self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1))) self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1)))
self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1))) self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1)))
self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1))) self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1)))
self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1))) self.forearm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1))) self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1)))
self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1))) self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1)))
@@ -165,7 +165,7 @@ class Striker(MJCFBasedRobot):
self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.forearm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
@@ -205,7 +205,7 @@ class Striker(MJCFBasedRobot):
self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1))) self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1)))
self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1))) self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1)))
self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1))) self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1)))
self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1))) self.forearm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1))) self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1)))
self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1))) self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1)))
@@ -254,7 +254,7 @@ class Thrower(MJCFBasedRobot):
self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.shoulder_lift_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.elbow_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.upper_arm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.forearm_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.wrist_flex_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0) self.wrist_roll_joint.reset_current_position(self.np_random.uniform(low=-3.14, high=3.14), 0)
@@ -294,7 +294,7 @@ class Thrower(MJCFBasedRobot):
self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1))) self.shoulder_lift_joint.set_motor_torque(0.05 * float(np.clip(a[1], -1, +1)))
self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1))) self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[2], -1, +1)))
self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1))) self.elbow_flex_joint.set_motor_torque(0.05 * float(np.clip(a[3], -1, +1)))
self.upper_arm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1))) self.forearm_roll_joint.set_motor_torque(0.05 * float(np.clip(a[4], -1, +1)))
self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1))) self.wrist_flex_joint.set_motor_torque(0.05 * float(np.clip(a[5], -1, +1)))
self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1))) self.wrist_roll_joint.set_motor_torque(0.05 * float(np.clip(a[6], -1, +1)))