Merge branch 'integration' of https://github.com/ryanjulian/rllab int…

…o dynamics_randomization
ryanjulian · May 30, 2018 · 9a9b71f · 9a9b71f
2 parents 3071f8f + 06b6de3
commit 9a9b71f
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diff --git a/contrib/ros/envs/example_launchers/trpo_gazebo_sawyer_pnp.py b/contrib/ros/envs/example_launchers/trpo_gazebo_sawyer_pnp.py
@@ -1,3 +1,5 @@
+import rospy
+
 from rllab.baselines.linear_feature_baseline import LinearFeatureBaseline
 from rllab.envs.normalized_env import normalize
 from rllab.misc.instrument import run_experiment_lite
@@ -10,6 +12,8 @@
 
 
 def run_task(*_):
+    rospy.init_node('trpo_sim_sawyer_pnp_exp', anonymous=True)
+
     env = TfEnv(normalize(PickAndPlaceEnv()))
 
     policy = GaussianMLPPolicy(

diff --git a/contrib/ros/envs/example_launchers/trpo_gazebo_sawyer_push.py b/contrib/ros/envs/example_launchers/trpo_gazebo_sawyer_push.py
@@ -1,3 +1,5 @@
+import rospy
+
 from rllab.baselines.linear_feature_baseline import LinearFeatureBaseline
 from rllab.envs.normalized_env import normalize
 from rllab.misc.instrument import run_experiment_lite
@@ -10,6 +12,8 @@
 
 
 def run_task(*_):
+    rospy.init_node('trpo_sim_sawyer_push_exp', anonymous=True)
+
     env = TfEnv(normalize(PushEnv()))
 
     policy = GaussianMLPPolicy(

diff --git a/contrib/ros/envs/sawyer_env.py b/contrib/ros/envs/sawyer_env.py
@@ -79,7 +79,6 @@ def __init__(self,
         Serializable.quick_init(self, locals())
 
         RosEnv.__init__(self)
-        rospy.init_node('SawyerEnv', anonymous=True)
 
         # Verify robot is enabled
         self._robot = Sawyer(