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reacher envs cleanup

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- base classes for direct and torque control
- added promp wrapper support
This commit is contained in:
Maximilian Huettenrauch
2021-11-26 16:31:46 +01:00
parent 928c540251
commit 2543bcd7ec
11 changed files with 645 additions and 821 deletions
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alr_envs/examples/examples_motion_primitives.py
+4 -4
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@@ -149,16 +149,16 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = False
# DMP
# example_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=10, render=render)
example_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=10, render=render)
# ProMP
# example_mp("alr_envs:HoleReacherProMP-v1", seed=10, iterations=100, render=render)
example_mp("alr_envs:HoleReacherProMP-v1", seed=10, iterations=100, render=render)
# DetProMP
example_mp("alr_envs:HoleReacherDetPMP-v1", seed=10, iterations=100, render=render)
# Altered basis functions
# example_custom_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=1, render=render)
example_custom_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=1, render=render)
# Custom MP
# example_fully_custom_mp(seed=10, iterations=1, render=render)
example_fully_custom_mp(seed=10, iterations=1, render=render)