From 4a16032820bef966ca940eb138adaa7e0e0c6f40 Mon Sep 17 00:00:00 2001 From: Benelot Date: Tue, 22 May 2018 18:12:45 +0200 Subject: [PATCH] Fix manipulators too. --- .../pybullet/gym/pybullet_envs/robot_manipulators.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/robot_manipulators.py b/examples/pybullet/gym/pybullet_envs/robot_manipulators.py index cdab943cf..f88487bb1 100644 --- a/examples/pybullet/gym/pybullet_envs/robot_manipulators.py +++ b/examples/pybullet/gym/pybullet_envs/robot_manipulators.py @@ -8,7 +8,7 @@ class Reacher(MJCFBasedRobot): def __init__(self): MJCFBasedRobot.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9) - def robot_specific_reset(self): + def robot_specific_reset(self, bullet_client): self.jdict["target_x"].reset_current_position( self.np_random.uniform(low=-self.TARG_LIMIT, high=self.TARG_LIMIT), 0) self.jdict["target_y"].reset_current_position( @@ -56,7 +56,7 @@ class Pusher(MJCFBasedRobot): def __init__(self): MJCFBasedRobot.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=55) - def robot_specific_reset(self): + def robot_specific_reset(self, bullet_client): # parts self.fingertip = self.parts["fingertip"] self.target = self.parts["target"] @@ -138,9 +138,9 @@ class Striker(MJCFBasedRobot): max_object_placement_radius = 0.8 def __init__(self): - MJCFBasedRobot.__init__(self, 'lstriker.xml', 'body0', action_dim=7, obs_dim=55) + MJCFBasedRobot.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=55) - def robot_specific_reset(self): + def robot_specific_reset(self, bullet_client): # parts self.fingertip = self.parts["fingertip"] self.target = self.parts["target"] @@ -230,7 +230,7 @@ class Thrower(MJCFBasedRobot): def __init__(self): MJCFBasedRobot.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=48) - def robot_specific_reset(self): + def robot_specific_reset(self, bullet_client): # parts self.fingertip = self.parts["fingertip"] self.target = self.parts["target"] @@ -307,4 +307,4 @@ class Thrower(MJCFBasedRobot): self.fingertip.pose().xyz(), self.object.pose().xyz(), self.target.pose().xyz(), - ]) \ No newline at end of file + ])