when using a joint mask (for example [1,0,0,0,1,1,1,1,1,1]) on Stretch while using the ArmRelPosKinematicReducedActionStretch action type, you would expect to specify the action using only the masked joints and not having any values for ignored joints (otherwise, what's the point of the mask?).
current code does not support this, causing an out of index error.
How Has This Been Tested
By running a stretch based agent that uses a joint mask.
Types of changes
NOTE: in theory this is a breaking change, in case someone was relying on the joint mask not doing anything. If the people who designed the mask are still around, was this the intended behaviour or was the intended behaviour to still include ignored joints in the action space?
Checklist
[x] My code follows the code style of this project.
Motivation and Context
[1,0,0,0,1,1,1,1,1,1]) on Stretch while using theArmRelPosKinematicReducedActionStretchaction type, you would expect to specify the action using only the masked joints and not having any values for ignored joints (otherwise, what's the point of the mask?).How Has This Been Tested
By running a stretch based agent that uses a joint mask.
Types of changes
NOTE: in theory this is a breaking change, in case someone was relying on the joint mask not doing anything. If the people who designed the mask are still around, was this the intended behaviour or was the intended behaviour to still include ignored joints in the action space?
Checklist