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update/refactor states: add window and ticks

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Brian Delhaisse
2019-04-26 04:38:58 +02:00
parent 95d734db7a
commit 782175419a
10 changed files with 941 additions and 181 deletions
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examples/imitation/trajectory_reproduction_kuka_dmp.py
+1 -1
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@@ -39,7 +39,7 @@ robot = world.load_robot(KukaIIWA)
print("Robot's actuated joint ids: {}".format(robot.joints))
# create state/action
state = ExponentialPhaseState(rate=rate)
state = ExponentialPhaseState(ticks=rate)
action = JointPositionAction(robot, joint_ids=joint_ids)
print("State: {}".format(state))
print("Action: {}".format(action))