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enable max planning times flag

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This commit is contained in:
Hongyi Zhou
2022-11-09 21:23:35 +01:00
parent 99a514026f
commit b1581634e0
3 changed files with 6 additions and 4 deletions
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fancy_gym/black_box/black_box_wrapper.py
+5 -4
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@@ -219,11 +219,12 @@ class BlackBoxWrapper(gym.ObservationWrapper):
if self.render_kwargs:
self.env.render(**self.render_kwargs)
if done or self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action,
t + 1 + self.current_traj_steps):
if done or (self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action,
t + 1 + self.current_traj_steps)
and self.max_planning_times is not None and self.plan_counts < self.max_planning_times):
# if self.max_planning_times is not None and self.plan_counts >= self.max_planning_times:
# continue
# if self.max_planning_times is not None and self.plan_counts >= self.max_planning_times:
# continue
self.condition_pos = pos if self.desired_conditioning else self.current_pos
self.condition_vel = vel if self.desired_conditioning else self.current_vel