From 91e6820a9ec78924d18394683c0f28933de8a259 Mon Sep 17 00:00:00 2001 From: mahdinobar Date: Thu, 14 Mar 2024 12:08:59 +0100 Subject: [PATCH] dev Tworr env, #3 --- spinup/backup_gym/gym/envs/classic_control/tworr.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/spinup/backup_gym/gym/envs/classic_control/tworr.py b/spinup/backup_gym/gym/envs/classic_control/tworr.py index c0865fcd3..c7f9603b5 100644 --- a/spinup/backup_gym/gym/envs/classic_control/tworr.py +++ b/spinup/backup_gym/gym/envs/classic_control/tworr.py @@ -99,7 +99,7 @@ def two_link_inverse_dynamics(self, th, dth, ddth): tau2 = (sigma + beta * np.cos(th[1])) * ddth[0] + sigma * ddth[1] + (beta * np.sin(th[1]) * dth[0] * dth[0]) return tau1, tau2 - def two_link_forward_dynamics(self, tau1, tau2, s_init, self.LINK_MASS_1=1, self.LINK_MASS_2=1, self.LINK_LENGTH_1=1, self.LINK_LENGTH_2=1): + def two_link_forward_dynamics(self, tau1, tau2, s_init): """Compute two inverse dynamics solutions for a target end position. :param s_init: [th1_init,dth1_init,th2_init,dth2_init] :param th: