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fix init pose

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mch5048
2019-08-10 17:25:10 +09:00
parent 865268de4e
commit 5601e310aa
2 changed files with 10 additions and 1 deletions
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scripts/envs/open_manipulator/open_manipulator_reacher_env.py
+1
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@@ -1,5 +1,6 @@
#! usr/bin/env python
import time
import gym
import numpy as np
from gym.utils import seeding
scripts/envs/open_manipulator/ros_interface.py
+9 -1
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@@ -114,7 +114,15 @@ class OpenManipulatorRosBaseInterface(object):
def init_robot_pose(self):
"""Initialize robot gripper and joints position."""
rospy.ServiceProxy("/gazebo/reset_simulation", Empty)
rospy.wait_for_service("/gazebo/reset_simulation")
rospy.ServiceProxy("/gazebo/reset_simulation", Empty)()
for i in range(2000):
self.pub_gripper_position.publish(np.random.uniform(0.0, 0.0))
self.pub_joint1_position.publish(np.random.uniform(0.0, 0.0))
self.pub_joint2_position.publish(np.random.uniform(0.0, 0.0))
self.pub_joint3_position.publish(np.random.uniform(0.0, 0.0))
self.pub_joint4_position.publish(np.random.uniform(0.0, 0.0))
time.sleep(5)
def init_fk_solver(self):
self.robot = URDF.from_parameter_server()