[gym_jiminy/toolbox|rllib] Implement task score at scheduler level ra…

…ther than task settable wrapper level.
duburcqa · Feb 1, 2025 · 8e6f511 · 8e6f511
1 parent cb64583
commit 8e6f511
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Showing 6 changed files with 475 additions and 323 deletions.
diff --git a/python/gym_jiminy/common/gym_jiminy/common/blocks/proportional_derivative_controller.py b/python/gym_jiminy/common/gym_jiminy/common/blocks/proportional_derivative_controller.py
@@ -194,8 +194,9 @@ def pd_adapter(action: np.ndarray,
                                 satisfied at all cost.
     :param command_state_upper: Upper bound of the command state that must be
                                 satisfied at all cost.
-    :param motors_velocity_deadband: Target velocity deadband for which the target
-                              motor velocity will be cancelled out completely.
+    :param motors_velocity_deadband: Target velocity deadband for which the
+                                     target motor velocity will be cancelled
+                                     out completely.
     :param step_dt: Time interval during which the target motor accelerations
                     will be held constant.
     :param out: Pre-allocated memory to store the target motor accelerations.
@@ -480,7 +481,6 @@ def _setup(self) -> None:
         # Reset the command state
         fill(self._command_state, 0)
 
-
     @property
     def fieldnames(self) -> List[str]:
         return [f"currentTarget{N_ORDER_DERIVATIVE_NAMES[2]}{motor.name}"