From 9539ba14246656fc61bbc784141f1d0fc6710930 Mon Sep 17 00:00:00 2001 From: Hongyi Zhou Date: Sun, 20 Nov 2022 22:00:02 +0100 Subject: [PATCH] fix some typos --- fancy_gym/envs/__init__.py | 2 +- fancy_gym/examples/example_replanning_envs.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py index bb6a664..890e043 100644 --- a/fancy_gym/envs/__init__.py +++ b/fancy_gym/envs/__init__.py @@ -500,7 +500,7 @@ for _v in _versions: kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3 kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_planning_times'] = 2 kwargs_dict_box_pushing_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 25 == 0 - kwargs_dict_box_pushing_prodmp['black_box_kwargs']['condition_on_desried'] = True + kwargs_dict_box_pushing_prodmp['black_box_kwargs']['condition_on_desired'] = True register( id=_env_id, entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper', diff --git a/fancy_gym/examples/example_replanning_envs.py b/fancy_gym/examples/example_replanning_envs.py index d993a71..977ce9e 100644 --- a/fancy_gym/examples/example_replanning_envs.py +++ b/fancy_gym/examples/example_replanning_envs.py @@ -33,7 +33,7 @@ def example_custom_replanning_envs(seed=0, iteration=100, render=True): # condition_on_desired: use desired state as the boundary condition for the next plan black_box_kwargs = {'max_planning_times': 4, 'replanning_schedule': lambda pos, vel, obs, action, t: t % 25 == 0, - 'desired_traj_bc': True} + 'condition_on_desired': True} env = fancy_gym.make_bb(env_id=base_env_id, wrappers=wrappers, black_box_kwargs=black_box_kwargs, traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs, @@ -59,4 +59,4 @@ if __name__ == "__main__": example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False) # run a custom replanning environment - example_custom_replanning_envs(seed=0, iteration=100, render=True) \ No newline at end of file + example_custom_replanning_envs(seed=0, iteration=8, render=True) \ No newline at end of file