Merge remote-tracking branch 'origin/master'

Conflicts:
	fancy_gym/black_box/black_box_wrapper.py

fancy_gym/black_box/black_box_wrapper.py

@@ -67,23 +67,24 @@ class BlackBoxWrapper(gym.ObservationWrapper):
 
     def observation(self, observation):
         # return context space if we are
-        obs = observation[self.env.context_mask] if self.return_context_observation else observation
+        if self.return_context_observation:
+            observation = observation[self.env.context_mask]
         # cast dtype because metaworld returns incorrect that throws gym error
-        return obs.astype(self.observation_space.dtype)
+        return observation.astype(self.observation_space.dtype)
 
     def get_trajectory(self, action: np.ndarray) -> Tuple:
         clipped_params = np.clip(action, self.traj_gen_action_space.low, self.traj_gen_action_space.high)
         self.traj_gen.set_params(clipped_params)
-        # TODO: is this correct for replanning? Do we need to adjust anything here?
         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_duration(None if self.learn_sub_trajectories else self.duration, self.dt)
+        duration = None if self.learn_sub_trajectories else self.duration
+        self.traj_gen.set_duration(duration, self.dt)
         # traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
         trajectory = get_numpy(self.traj_gen.get_traj_pos())
         velocity = get_numpy(self.traj_gen.get_traj_vel())
 
-        print(len(trajectory))
-
         if self.do_replanning:
             # Remove first part of trajectory as this is already over
             trajectory = trajectory[self.current_traj_steps:]

fancy_gym/black_box/raw_interface_wrapper.py

@@ -1,4 +1,3 @@
-from abc import abstractmethod
 from typing import Union, Tuple
 
 import gym
@@ -23,7 +22,6 @@ class RawInterfaceWrapper(gym.Wrapper):
         return np.ones(self.env.observation_space.shape[0], dtype=bool)
 
     @property
-    @abstractmethod
     def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
         """
             Returns the current position of the action/control dimension.
@@ -32,10 +30,9 @@ class RawInterfaceWrapper(gym.Wrapper):
             it should, however, be implemented regardless.
             E.g. The joint positions that are directly or indirectly controlled by the action.
         """
-        raise NotImplementedError()
+        raise NotImplementedError
 
     @property
-    @abstractmethod
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
         """
             Returns the current velocity of the action/control dimension.
@@ -44,7 +41,7 @@ class RawInterfaceWrapper(gym.Wrapper):
             it should, however, be implemented regardless.
             E.g. The joint velocities that are directly or indirectly controlled by the action.
         """
-        raise NotImplementedError()
+        raise NotImplementedError
 
     @property
     def dt(self) -> float: