From 7695cae07694915136b7051f965e9d84593378de Mon Sep 17 00:00:00 2001 From: ottofabian Date: Tue, 18 May 2021 10:39:30 +0200 Subject: [PATCH] default observation selection for MPs --- alr_envs/utils/mps/mp_environments.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/alr_envs/utils/mps/mp_environments.py b/alr_envs/utils/mps/mp_environments.py index 948e4ba..f397491 100644 --- a/alr_envs/utils/mps/mp_environments.py +++ b/alr_envs/utils/mps/mp_environments.py @@ -10,17 +10,17 @@ class MPEnv(gym.Env): @property @abstractmethod def active_obs(self): - """Returns boolean value for each observation entry - whether the observation is returned by the DMP for the contextual case or not. + """Returns boolean mask for each observation entry + whether the observation is returned for the contextual case or not. This effectively allows to filter unwanted or unnecessary observations from the full step-based case. """ - raise NotImplementedError() + return np.ones(self.observation_space.shape, dtype=bool) @property @abstractmethod def start_pos(self) -> Union[float, int, np.ndarray]: """ - Returns the current position of the joints + Returns the starting position of the joints """ raise NotImplementedError()