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add contextual obs option to invalid trajectory callback

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This commit is contained in:
Hongyi Zhou
2022-11-25 22:34:46 +01:00
parent c242c32a41
commit 2735e0bf24
3 changed files with 19 additions and 17 deletions
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fancy_gym/examples/examples_movement_primitives.py
+7 -6
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@@ -157,17 +157,18 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = True
# 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("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
# example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
# example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
# ProDMP
example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
# example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
# Altered basis functions
obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, 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)
# example_fully_custom_mp(seed=10, iterations=1, render=render)