dodox/fancy_gym
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fix minor bugs

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This commit is contained in:
Hongyi Zhou 2022-11-25 22:38:21 +01:00
parent 2735e0bf24
commit 28aa430fd2
2 changed files with 3 additions and 3 deletions
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2
fancy_gym/black_box/black_box_wrapper.py
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@ -194,7 +194,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
if done or self.replanning_schedule(current_pos, current_vel, obs, c_action,
t + 1 + self.current_traj_steps):
if self.max_planning_times is not None and self.plan_steps >= self.max_planning_times:
if not done and self.max_planning_times is not None and self.plan_steps >= self.max_planning_times:
continue
self.condition_pos = pos if self.condition_on_desired else None

4
fancy_gym/examples/examples_movement_primitives.py
View File

@ -162,11 +162,11 @@ if __name__ == '__main__':
# ProMP
# example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
# example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
# example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
# ProDMP
# example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
example_mp("TableTennis4DProDMP-v0", seed=10, iterations=20, render=render)
# Altered basis functions
# obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)