refactored meshes, cleaned up init -- now with DMP --

2022-07-06 11:29:04 +02:00
parent 78d48c4300
commit 2706af0b77
64 changed files with 109 additions and 162 deletions
@@ -75,7 +75,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
        # TODO: Bruce said DMP, ProMP, ProDMP can have 0 bc_time for sequencing
        # TODO Check with Bruce for replanning
        self.traj_gen.set_boundary_conditions(
-            bc_time=np.zeros((1,)) if not self.do_replanning else np.array([self.current_traj_steps * self.dt]),
+            bc_time=np.array(0) if not self.do_replanning else np.array([self.current_traj_steps * self.dt]),
            bc_pos=self.current_pos, bc_vel=self.current_vel)
        # TODO: is this correct for replanning? Do we need to adjust anything here?
        self.traj_gen.set_duration(None if self.learn_sub_trajectories else np.array([self.duration]),