From d73c9bbdbf13a2743b267947bd0add7b1c8dd3d2 Mon Sep 17 00:00:00 2001 From: "xb1196@partner.kit.edu" Date: Wed, 12 Oct 2022 17:06:36 +0200 Subject: [PATCH] comment out plotting and fixed context codes --- fancy_gym/black_box/black_box_wrapper.py | 1 - fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py | 6 +++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/fancy_gym/black_box/black_box_wrapper.py b/fancy_gym/black_box/black_box_wrapper.py index 8adea09..eda79aa 100644 --- a/fancy_gym/black_box/black_box_wrapper.py +++ b/fancy_gym/black_box/black_box_wrapper.py @@ -48,7 +48,6 @@ class BlackBoxWrapper(gym.ObservationWrapper): # trajectory generation self.traj_gen = trajectory_generator - self.traj_gen.basis_gn.show_basis(plot=True) self.tracking_controller = tracking_controller # self.time_steps = np.linspace(0, self.duration, self.traj_steps) # self.traj_gen.set_mp_times(self.time_steps) diff --git a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py index a6bc27b..e70ecec 100644 --- a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py +++ b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py @@ -94,9 +94,9 @@ class BoxPushingEnv(MujocoEnv, utils.EzPickle): # set target position box_target_pos = self.sample_context() - box_target_pos[0] = 0.4 - box_target_pos[1] = -0.3 - box_target_pos[-4:] = np.array([0.0, 0.0, 0.0, 1.0]) + #box_target_pos[0] = 0.4 + #box_target_pos[1] = -0.3 + #box_target_pos[-4:] = np.array([0.0, 0.0, 0.0, 1.0]) self.model.body_pos[2] = box_target_pos[:3] self.model.body_quat[2] = box_target_pos[-4:] self.model.body_pos[3] = box_target_pos[:3]