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3 bases & disable relative goal for table tennis

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This commit is contained in:
Hongyi Zhou 2023-04-09 20:54:23 +02:00
parent e7694cc11f
commit 1ba58bca52
1 changed files with 2 additions and 2 deletions
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4
fancy_gym/envs/__init__.py
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@ -585,13 +585,13 @@ for _v in _versions:
kwargs_dict_tt_prodmp['controller_kwargs']['d_gains'] = 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1])
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['weights_scale'] = 0.7
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = True
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = False
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True
kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_tau'] = True
kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_delay'] = True
kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 4
kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 3
kwargs_dict_tt_prodmp['basis_generator_kwargs']['alpha'] = 25.
kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3