Fix bugs to create mp environments. Still conflicts with mp_pytorch_lib

2022-07-01 11:42:42 +02:00
parent d4e3b957a9
commit 2161cfd3a6
6 changed files with 14 additions and 12 deletions
@@ -25,8 +25,9 @@ class MPWrapper(RawInterfaceWrapper):
            [False]  # env steps
        ])

-    def _episode_callback(self, action: np.ndarray) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
-        if self.mp.learn_tau:
+    # TODO: Fix this
+    def _episode_callback(self, action: np.ndarray, mp) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
+        if mp.learn_tau:
            self.env.env.release_step = action[0] / self.env.dt  # Tau value
            return action, None
        else: