dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

comment out plotting and fixed context codes

Browse Source
This commit is contained in:
xb1196@partner.kit.edu 2022-10-12 17:06:36 +02:00
parent ad8201ea67
commit d73c9bbdbf
2 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
fancy_gym/black_box/black_box_wrapper.py
View File

@ -48,7 +48,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
# trajectory generation # trajectory generation
self.traj_gen = trajectory_generator self.traj_gen = trajectory_generator
self.traj_gen.basis_gn.show_basis(plot=True)
self.tracking_controller = tracking_controller self.tracking_controller = tracking_controller
# self.time_steps = np.linspace(0, self.duration, self.traj_steps) # self.time_steps = np.linspace(0, self.duration, self.traj_steps)
# self.traj_gen.set_mp_times(self.time_steps) # self.traj_gen.set_mp_times(self.time_steps)

6
fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
View File

@ -94,9 +94,9 @@ class BoxPushingEnv(MujocoEnv, utils.EzPickle):
# set target position # set target position
box_target_pos = self.sample_context() box_target_pos = self.sample_context()
box_target_pos[0] = 0.4 #box_target_pos[0] = 0.4
box_target_pos[1] = -0.3 #box_target_pos[1] = -0.3
box_target_pos[-4:] = np.array([0.0, 0.0, 0.0, 1.0]) #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_pos[2] = box_target_pos[:3]
self.model.body_quat[2] = box_target_pos[-4:] self.model.body_quat[2] = box_target_pos[-4:]
self.model.body_pos[3] = box_target_pos[:3] self.model.body_pos[3] = box_target_pos[:3]