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updated for new mp-pytorch version

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Fabian
2023-01-17 09:50:55 +01:00
parent 61626135ff
commit 03b930d7dd
3 changed files with 5 additions and 5 deletions
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fancy_gym/black_box/black_box_wrapper.py
+2 -2
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@@ -94,14 +94,14 @@ class BlackBoxWrapper(gym.ObservationWrapper):
clipped_params = np.clip(action, self.traj_gen_action_space.low, self.traj_gen_action_space.high)
self.traj_gen.set_params(clipped_params)
bc_time = np.array(0 if not self.do_replanning else self.current_traj_steps * self.dt)
init_time = np.array(0 if not self.do_replanning else self.current_traj_steps * self.dt)
# TODO we could think about initializing with the previous desired value in order to have a smooth transition
# at least from the planning point of view.
condition_pos = self.condition_pos if self.condition_pos is not None else self.current_pos
condition_vel = self.condition_vel if self.condition_vel is not None else self.current_vel
self.traj_gen.set_boundary_conditions(bc_time, condition_pos, condition_vel)
self.traj_gen.set_initial_conditions(init_time, condition_pos, condition_vel)
self.traj_gen.set_duration(duration, self.dt)
# traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
position = get_numpy(self.traj_gen.get_traj_pos())