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minor update: create local variables for current pos/vel

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This commit is contained in:
Hongyi Zhou 2022-11-21 10:17:56 +01:00
parent 9539ba1424
commit a9ad1b5287
1 changed files with 4 additions and 2 deletions
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6
fancy_gym/black_box/black_box_wrapper.py
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@ -162,7 +162,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
self.plan_steps += 1 self.plan_steps += 1
for t, (pos, vel) in enumerate(zip(position, velocity)): for t, (pos, vel) in enumerate(zip(position, velocity)):
step_action = self.tracking_controller.get_action(pos, vel, self.current_pos, self.current_vel) current_pos = self.current_pos
current_vel = self.current_vel
step_action = self.tracking_controller.get_action(pos, vel, current_pos, current_vel)
c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high) c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high)
obs, c_reward, done, info = self.env.step(c_action) obs, c_reward, done, info = self.env.step(c_action)
rewards[t] = c_reward rewards[t] = c_reward
@ -179,7 +181,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
if self.render_kwargs: if self.render_kwargs:
self.env.render(**self.render_kwargs) self.env.render(**self.render_kwargs)
if done or self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action, if done or self.replanning_schedule(current_pos, current_vel, obs, c_action,
t + 1 + self.current_traj_steps): t + 1 + self.current_traj_steps):
if self.max_planning_times is not None and self.plan_steps >= self.max_planning_times: if self.max_planning_times is not None and self.plan_steps >= self.max_planning_times: