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use observation mask for replanning

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This commit is contained in:
Hongyi Zhou 2022-10-31 13:52:40 +01:00
parent 61c1b76e29
commit cd2b679e9b
2 changed files with 3 additions and 2 deletions
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3
fancy_gym/black_box/black_box_wrapper.py
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@ -61,7 +61,8 @@ class BlackBoxWrapper(gym.ObservationWrapper):
# self.traj_gen.basis_gn.show_basis(plot=True) # self.traj_gen.basis_gn.show_basis(plot=True)
# spaces # spaces
self.return_context_observation = not (learn_sub_trajectories or self.do_replanning) # self.return_context_observation = not (learn_sub_trajectories or self.do_replanning)
self.return_context_observation = True
self.traj_gen_action_space = self._get_traj_gen_action_space() self.traj_gen_action_space = self._get_traj_gen_action_space()
# self.action_space = self._get_action_space() # self.action_space = self._get_action_space()

2
fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py
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@ -20,7 +20,7 @@ class MPWrapper(RawInterfaceWrapper):
[True] * 4, # orientation of box [True] * 4, # orientation of box
[True] * 3, # position of target [True] * 3, # position of target
[True] * 4, # orientation of target [True] * 4, # orientation of target
# [True] * 1, # time [True] * 1, # time
]) ])
@property @property