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update bc

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This commit is contained in:
Hongyi Zhou 2022-11-22 10:46:39 +01:00
parent 7e71e70861
commit be1a9bd67e
1 changed files with 6 additions and 3 deletions
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fancy_gym/black_box/black_box_wrapper.py
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@ -116,9 +116,12 @@ class BlackBoxWrapper(gym.ObservationWrapper):
self.condition_pos = self.current_pos self.condition_pos = self.current_pos
self.condition_vel = self.current_vel self.condition_vel = self.current_vel
bc_time = torch.as_tensor(bc_time, dtype=torch.float32) # bc_time = torch.as_tensor(bc_time, dtype=torch.float32)
self.condition_pos = torch.as_tensor(self.condition_pos, dtype=torch.float32) # self.condition_pos = torch.as_tensor(self.condition_pos, dtype=torch.float32)
self.condition_vel = torch.as_tensor(self.condition_vel, dtype=torch.float32) # self.condition_vel = torch.as_tensor(self.condition_vel, dtype=torch.float32)
print("bc_time", bc_time)
print("self.condition_pos", self.condition_pos)
print("self.condition_vel", self.condition_vel)
self.traj_gen.set_boundary_conditions(bc_time, self.condition_pos, self.condition_vel) self.traj_gen.set_boundary_conditions(bc_time, self.condition_pos, self.condition_vel)
# self.traj_gen.set_duration(duration, self.dt) # self.traj_gen.set_duration(duration, self.dt)
self.traj_gen.set_duration(duration, self.dt) self.traj_gen.set_duration(duration, self.dt)