Fix Sdf version warning and LogRecord error(#110)

HorizonRobotics · Nov 27, 2019 · 249929f · 249929f
1 parent c527050
commit 249929f
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/pygazebo/pygazebo.cc b/pygazebo/pygazebo.cc
@@ -485,8 +485,9 @@ void Initialize(const std::vector<std::string>& args,
     {
       gazebo::util::LogRecordParams params;
       params.period = 1e300;  // In fact, we don't need to do logging.
-      // gazebo::util::LogRecord::Instance()->Init("pygazebo");
+      gazebo::util::LogRecord::Instance()->Init("pygazebo");
       gazebo::util::LogRecord::Instance()->Start(params);
+      gazebo::util::LogRecord::Instance()->Stop();
     }
   }
   gazebo_initialized = true;

diff --git a/python/social_bot/envs/gazebo_base.py b/python/social_bot/envs/gazebo_base.py
@@ -94,7 +94,7 @@ def render(self, mode='human'):
             if self._rendering_camera is None:
                 render_camera_sdf = """
                 <?xml version='1.0'?>
-                <sdf version ='1.4'>
+                <sdf version ='1.6'>
                 <model name ='render_camera'>
                     <static>1</static>
                     <pose>%s</pose>
@@ -148,7 +148,7 @@ def insert_model(self, model, name=None, pose="0 0 0 0 0 0"):
             name = model
         model_sdf = """
         <?xml version='1.0'?>
-        <sdf version ='1.4'>
+        <sdf version ='1.6'>
         <model name=""" + name + """>
             <include>
                 <uri>model://""" + model + """</uri>

diff --git a/python/social_bot/envs/play_ground.py b/python/social_bot/envs/play_ground.py
@@ -125,7 +125,7 @@ def __init__(self,
         self._action_cost = action_cost
         self._with_language = with_language
         self._seq_length = vocab_sequence_length
-        self._with_agent_language = with_agent_language
+        self._with_agent_language = with_language and with_agent_language
         self._use_image_obs = use_image_observation
         self._image_with_internal_states = self._use_image_obs and image_with_internal_states
 
@@ -260,11 +260,13 @@ def main():
     import matplotlib.pyplot as plt
     import time
     with_language = True
+    with_agent_language = False
     use_image_obs = False
     image_with_internal_states = True
     fig = None
     env = PlayGround(
         with_language=with_language,
+        with_agent_language=with_agent_language,
         use_image_observation=use_image_obs,
         image_with_internal_states=image_with_internal_states,
         agent_type='kuka_lwr_4plus',
@@ -274,7 +276,7 @@ def main():
     last_done_time = time.time()
     while True:
         actions = env._control_space.sample()
-        if with_language:
+        if with_agent_language:
             actions = dict(control=actions, sentence="hello")
         obs, _, done, _ = env.step(actions)
         step_cnt += 1

diff --git a/python/social_bot/worlds/play_ground.world b/python/social_bot/worlds/play_ground.world
@@ -3,7 +3,7 @@
 <!--
     Copyright (c) 2019 Horizon Robotics. All Rights Reserved.                            -->
 <!-- =================================================================================== -->
-<sdf version="1.5">
+<sdf version="1.6">
   <world name="default">
     <physics type="ode">
       <max_step_size>0.001</max_step_size>