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fix errors in examples when using Python 3

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This commit is contained in:
Brian Delhaisse
2019-07-02 22:46:44 +02:00
parent 0a482b409c
commit 48ce4937b8
6 changed files with 86 additions and 39 deletions
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examples/rewards/manipulator.py
+8 -5
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@@ -15,16 +15,19 @@ world = prl.worlds.BasicWorld(sim)
# create robot
robot = world.load_robot('kuka_iiwa')
print(robot)
end_effector_id = robot.end_effectors[0]
robot.print_info()
# desired position
sphere = world.load_visual_sphere([0.5, 0., 0.5], radius=0.05, color=(1, 0, 0, 0.5), return_body=True)
sphere = world.load_visual_sphere([0.5, 0., 0.], radius=0.05, color=(1, 0, 0, 0.5), return_body=True)
# create state
state = prl.states.LinkPositionState(robot, link_ids=robot.end_effectors)
state = prl.states.LinkWorldPositionState(robot, link_ids=end_effector_id)
# create reward
# reward = prl.rewards.DistanceCost()
# note that the given 'sphere' to the cost is not a state, and thus a PositionState will automatically be created
# for that 'sphere', and called at each time the reward is computed.
reward = prl.rewards.DistanceCost(state, sphere)
# run simulation
for t in count():
@@ -32,7 +35,7 @@ for t in count():
state()
# compute reward
# print("Reward value = {}".format(reward()))
print("Reward value = {}".format(reward()))
# perform a step in the simulator
world.step(sim.dt)