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updated for new set_duration function.

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Fabian
2022-09-20 11:17:20 +02:00
parent 623adaacd8
commit 1ca14f1c93
2 changed files with 27 additions and 25 deletions
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fancy_gym/examples/examples_movement_primitives.py
+23 -23
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@@ -106,31 +106,31 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
"""
base_env_id = "HoleReacher-v0"
base_env_id = "Reacher5d-v0"
# Replace this wrapper with the custom wrapper for your environment by inheriting from the RawInterfaceWrapper.
# You can also add other gym.Wrappers in case they are needed.
wrappers = [fancy_gym.envs.classic_control.hole_reacher.MPWrapper]
wrappers = [fancy_gym.envs.mujoco.reacher.MPWrapper]
# # For a ProMP
# trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
# 'weight_scale': 2}
# phase_generator_kwargs = {'phase_generator_type': 'linear'}
# controller_kwargs = {'controller_type': 'velocity'}
# basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
# 'num_basis': 5,
# 'num_basis_zero_start': 1
# }
# For a DMP
trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
'weight_scale': 500}
phase_generator_kwargs = {'phase_generator_type': 'exp',
'alpha_phase': 2.5}
# For a ProMP
trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
'weight_scale': 2}
phase_generator_kwargs = {'phase_generator_type': 'linear'}
controller_kwargs = {'controller_type': 'velocity'}
basis_generator_kwargs = {'basis_generator_type': 'rbf',
'num_basis': 5
basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
'num_basis': 5,
'num_basis_zero_start': 1
}
# # For a DMP
# trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
# 'weight_scale': 500}
# phase_generator_kwargs = {'phase_generator_type': 'exp',
# 'alpha_phase': 2.5}
# controller_kwargs = {'controller_type': 'velocity'}
# basis_generator_kwargs = {'basis_generator_type': 'rbf',
# 'num_basis': 5
# }
env = fancy_gym.make_bb(env_id=base_env_id, wrappers=wrappers, black_box_kwargs={},
traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
@@ -155,15 +155,15 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = True
render = False
# DMP
example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
# example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
#
# # ProMP
example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
# example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
# Altered basis functions
obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=5, render=render)
# obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
# Custom MP
example_fully_custom_mp(seed=10, iterations=1, render=render)