Error when accessing cached joint acceleration

robotlearn / pyrobolearn

PyRoboLearn: a Python framework for Robot Learning

Apache License 2.0

400 stars 62 forks source link

Error when accessing cached joint acceleration #47

Closed lukasfro closed 3 years ago

lukasfro commented 3 years ago

Calling the get_joint_acceleration() method in robots/robot.py leads to an error when called twice due two an indexing error for the cached values here. Easy fix for this issue is to replace this line by ddq = self._state['ddq'][0]. Happy to do a PR :)