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Fix manipulators too.

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Benelot
2018-05-22 18:12:45 +02:00
parent 7b219e0ea6
commit 4a16032820
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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@@ -8,7 +8,7 @@ class Reacher(MJCFBasedRobot):
def __init__(self): def __init__(self):
MJCFBasedRobot.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9) 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.jdict["target_x"].reset_current_position(
self.np_random.uniform(low=-self.TARG_LIMIT, high=self.TARG_LIMIT), 0) self.np_random.uniform(low=-self.TARG_LIMIT, high=self.TARG_LIMIT), 0)
self.jdict["target_y"].reset_current_position( self.jdict["target_y"].reset_current_position(
@@ -56,7 +56,7 @@ class Pusher(MJCFBasedRobot):
def __init__(self): def __init__(self):
MJCFBasedRobot.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=55) 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 # parts
self.fingertip = self.parts["fingertip"] self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"] self.target = self.parts["target"]
@@ -138,9 +138,9 @@ class Striker(MJCFBasedRobot):
max_object_placement_radius = 0.8 max_object_placement_radius = 0.8
def __init__(self): 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 # parts
self.fingertip = self.parts["fingertip"] self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"] self.target = self.parts["target"]
@@ -230,7 +230,7 @@ class Thrower(MJCFBasedRobot):
def __init__(self): def __init__(self):
MJCFBasedRobot.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=48) 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 # parts
self.fingertip = self.parts["fingertip"] self.fingertip = self.parts["fingertip"]
self.target = self.parts["target"] self.target = self.parts["target"]
@@ -307,4 +307,4 @@ class Thrower(MJCFBasedRobot):
self.fingertip.pose().xyz(), self.fingertip.pose().xyz(),
self.object.pose().xyz(), self.object.pose().xyz(),
self.target.pose().xyz(), self.target.pose().xyz(),
]) ])