add ProDMP to register

2022-10-13 10:57:00 +02:00
parent d73c9bbdbf
commit 187c5f5bb2
5 changed files with 41 additions and 5 deletions
@@ -52,6 +52,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
        # self.time_steps = np.linspace(0, self.duration, self.traj_steps)
        # self.traj_gen.set_mp_times(self.time_steps)
        self.traj_gen.set_duration(self.duration, self.dt)
+        # self.traj_gen.basis_gn.show_basis(plot=True)

        # reward computation
        self.reward_aggregation = reward_aggregation