fix bug with body states

examples/kinematics/inverse/ik_libraries.py

@@ -170,7 +170,7 @@ elif solver_flag == 1:
 
         # set joint positions
         q = q[qIdx] + dq * dt
-        robot.set_joint_positions(q, joint_idss=joint_ids)
+        robot.set_joint_positions(q, joint_ids=joint_ids)
 
         # step in simulation
         world.step(sleep_dt=dt)

papers/README.md

@@ -17,6 +17,8 @@ example on how to use the environment defined in `env.py`.
 - a possible `figures` directory containing figures; this can include a picture of the environment, training plots, 
 etc.
 - a possible `meshes` directory containing meshes for the different objects that are present in the environment.
+- a possible `data` folder containing the parameters/hyperparameters of a pre-trained learning model, or collected 
+data that can be used for imitation learning for instance.
 
 
 ### Structure
@@ -39,7 +41,8 @@ ignore.
 
 ### Further notes
 
-- It might be that in the future, this folder will be moved to its own repository.
+- It might be that in the future, this folder will be moved to its own repository, and each paper will have its own 
+repository and will be loaded as submodules recursively (using `git clone --recursive`)
 - I will often focus more on implementing the environments than training the various policies using the different 
 algorithms
 - Any comments, help, pull requests are appreciated. 

pyrobolearn/states/body_states.py

@@ -52,8 +52,7 @@ class BodyState(State):
                 state is not a combination of states, but is given some :attr:`data`.
             ticks (int): number of ticks to sleep before getting the next state data.
         """
-
-        super(BodyState, self).__init__(window_size=window_size, axis=axis, ticks=ticks)
+        # check given body
         if not isinstance(body, (Body, int, long)):
             raise TypeError("Expecting an instance of Body, or an identifier from the simulator/world, instead got: "
                             "{}".format(type(body)))
@@ -67,6 +66,9 @@ class BodyState(State):
             body = Body(world.simulator, body)
         self.body = body
 
+        # initialize parent class
+        super(BodyState, self).__init__(window_size=window_size, axis=axis, ticks=ticks)
+
     @abstractmethod
     def _read(self):
         pass