updates

2021-04-08 19:00:48 +02:00
parent f7c2f800ed
commit 1fd44616bf
2 changed files with 5 additions and 3 deletions
@@ -10,6 +10,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
                 num_dof,
                 num_basis,
                 width,
+                 off=0.01,
                 start_pos=None,
                 duration=1,
                 dt=0.01,
@@ -23,7 +24,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
        self.num_dof = num_dof
        self.num_basis = num_basis
        self.dim = num_dof * num_basis
-        self.pmp = det_promp.DeterministicProMP(n_basis=num_basis, n_dof=num_dof, width=width, off=0.01,
+        self.pmp = det_promp.DeterministicProMP(n_basis=num_basis, n_dof=num_dof, width=width, off=off,
                                                zero_start=zero_start, zero_goal=zero_goal)
        weights = np.zeros(shape=(num_basis, num_dof))
        self.pmp.set_weights(duration, weights)