remove minor attributes from BP

alr_envs/black_box/black_box_wrapper.py

@@ -122,7 +122,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         """ This function generates a trajectory based on a MP and then does the usual loop over reset and step"""
 
         # TODO remove this part, right now only needed for beer pong
-        mp_params, env_spec_params = self.env._episode_callback(action, self.traj_gen)
+        mp_params, env_spec_params = self.env.episode_callback(action, self.traj_gen)
         trajectory, velocity = self.get_trajectory(mp_params)
 
         trajectory_length = len(trajectory)

alr_envs/black_box/raw_interface_wrapper.py

@@ -52,12 +52,7 @@ class RawInterfaceWrapper(gym.Wrapper):
         """
         return self.env.dt
 
-    def do_replanning(self, pos, vel, s, a, t):
-        # return t % 100 == 0
-        # return bool(self.replanning_model(s))
-        return False
-
-    def _episode_callback(self, action: np.ndarray, traj_gen: MPInterface) -> Tuple[
+    def episode_callback(self, action: np.ndarray, traj_gen: MPInterface) -> Tuple[
         np.ndarray, Union[np.ndarray, None]]:
         """
         Used to extract the parameters for the motion primitive and other parameters from an action array which might