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updated for new set_duration function.

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Fabian
2022-09-20 11:17:20 +02:00
parent 623adaacd8
commit 1ca14f1c93
2 changed files with 27 additions and 25 deletions
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fancy_gym/black_box/black_box_wrapper.py
+4 -2
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@@ -50,7 +50,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
self.tracking_controller = tracking_controller
# self.time_steps = np.linspace(0, self.duration, self.traj_steps)
# self.traj_gen.set_mp_times(self.time_steps)
self.traj_gen.set_duration(self.duration - self.dt, self.dt)
self.traj_gen.set_duration(self.duration, self.dt)
# reward computation
self.reward_aggregation = reward_aggregation
@@ -78,11 +78,13 @@ class BlackBoxWrapper(gym.ObservationWrapper):
bc_time = np.array(0 if not self.do_replanning else self.current_traj_steps * self.dt)
self.traj_gen.set_boundary_conditions(bc_time, self.current_pos, self.current_vel)
# TODO: remove the - self.dt after Bruces fix.
self.traj_gen.set_duration(None if self.learn_sub_trajectories else self.duration - self.dt, self.dt)
self.traj_gen.set_duration(None if self.learn_sub_trajectories else self.duration, self.dt)
# traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
trajectory = get_numpy(self.traj_gen.get_traj_pos())
velocity = get_numpy(self.traj_gen.get_traj_vel())
print(len(trajectory))
if self.do_replanning:
# Remove first part of trajectory as this is already over
trajectory = trajectory[self.current_traj_steps:]