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updated for new mp_pytorch

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Fabian
2023-01-25 09:20:36 +01:00
parent 3facda996c
commit 8903c2dc9f
6 changed files with 4 additions and 1470 deletions
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fancy_gym/black_box/black_box_wrapper.py
+1 -1
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@@ -86,7 +86,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
bc_time = np.array(0 if not self.do_replanning else self.current_traj_steps * self.dt)
# TODO we could think about initializing with the previous desired value in order to have a smooth transition
# at least from the planning point of view.
self.traj_gen.set_boundary_conditions(bc_time, self.current_pos, self.current_vel)
self.traj_gen.set_initial_conditions(bc_time, self.current_pos, self.current_vel)
self.traj_gen.set_duration(duration, self.dt)
# traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
position = get_numpy(self.traj_gen.get_traj_pos())