add weights scaling for box pushing replanning

2022-10-25 20:10:59 +02:00
parent c457fbbfeb
commit 556bfd0b35
6 changed files with 28 additions and 11 deletions
@@ -56,6 +56,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
        # reward computation
        self.reward_aggregation = reward_aggregation

+        # self.traj_gen.basis_gn.show_basis(plot=True)
        # spaces
        self.return_context_observation = not (learn_sub_trajectories or self.do_replanning)
        self.traj_gen_action_space = self._get_traj_gen_action_space()