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Farama-Foundation / Gymnasium-Robotics

A collection of robotics simulation environments for reinforcement learning
https://robotics.farama.org/
MIT License
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[Question] Why remove IKController step mode from FrankaKitchen-v1? #168

Closed zichunxx closed 1 year ago

zichunxx commented 1 year ago

Hi!

I noticed that the IKController step mode in v1.2.0 was removed in v1.2.1.

Also, from the release note, I found related descriptions:

In addition, the updates made for the first release of FrankaKitchen-v1 environment have been reverted in order for the environment to resemble more its original version in relay-policy-learning and D4RL

I can't quite understand the causal relationship between the above description and the removal of the IKController?

Is it because IKController causes differences in the training process compared to the original?

Could you give a more detailed explanation?

Thanks in advance!