sync with previous community fix

empriselab · Dec 27, 2023 · c06bc7b · c06bc7b
1 parent ec056b2
commit c06bc7b
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Showing 9 changed files with 7 additions and 1,080 deletions.
diff --git a/pyrcareworld/pyrcareworld/agents/robot.py b/pyrcareworld/pyrcareworld/agents/robot.py
@@ -406,7 +406,7 @@ def setJointTorques(self, joint_torques: list) -> None:
         @return:
         """
         self.env.instance_channel.set_action(
-            "AddJointForce", id=self.id, joint_forces=joint_torques
+            "AddJointTorque", id=self.id, joint_torques=joint_torques
         )
 
     def setJointForcesAtPositions(

diff --git a/pyrcareworld/pyrcareworld/attributes/controller_attr.py b/pyrcareworld/pyrcareworld/attributes/controller_attr.py
@@ -225,17 +225,17 @@ def AddJointForceAtPosition(kwargs: dict) -> OutgoingMessage:
     utility.CheckKwargs(kwargs, compulsory_params)
 
     msg = OutgoingMessage()
-    joint_positions = kwargs["joint_forces"]
+    joint_forces = kwargs["joint_forces"]
     forces_position = kwargs["forces_position"]
-    num_joints = len(joint_positions)
+    num_joints = len(joint_forces)
 
     msg.write_int32(kwargs["id"])
     msg.write_string("AddJointForceAtPosition")
     msg.write_int32(num_joints)
     for i in range(num_joints):
-        msg.write_float32(joint_positions[i][0])
-        msg.write_float32(joint_positions[i][1])
-        msg.write_float32(joint_positions[i][2])
+        msg.write_float32(joint_forces[i][0])
+        msg.write_float32(joint_forces[i][1])
+        msg.write_float32(joint_forces[i][2])
         msg.write_float32(forces_position[i][0])
         msg.write_float32(forces_position[i][1])
         msg.write_float32(forces_position[i][2])
@@ -253,7 +253,7 @@ def AddJointTorque(kwargs: dict) -> OutgoingMessage:
     num_joints = len(joint_torque)
 
     msg.write_int32(kwargs["id"])
-    msg.write_string("AddJointTorque")
+    msg.write_string("AddRelativeTorque")
     msg.write_int32(num_joints)
     for i in range(num_joints):
         msg.write_float32(joint_torque[i][0])

diff --git a/pyrcareworld/pyrcareworld/envs/learning_envs/__init__.py b/pyrcareworld/pyrcareworld/envs/learning_envs/__init__.py
diff --git a/pyrcareworld/pyrcareworld/envs/learning_envs/bed_bathing_env.py b/pyrcareworld/pyrcareworld/envs/learning_envs/bed_bathing_env.py