Merge branch 'master' into gym_upgrade

fancy_gym/examples/examples_movement_primitives.py

@@ -162,9 +162,12 @@ if __name__ == '__main__':
     # ProMP
     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
+    # ProDMP with Replanning
     example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
+    example_mp("TableTennis4DReplanProDMP-v0", seed=10, iterations=20, render=render)
+    example_mp("TableTennisWindReplanProDMP-v0", seed=10, iterations=20, render=render)
 
     # Altered basis functions
     obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)

fancy_gym/examples/mp_params_tuning.py

@@ -0,0 +1,10 @@
+import fancy_gym
+
+def compare_bases_shape(env1_id, env2_id):
+    env1 = fancy_gym.make(env1_id, seed=0)
+    env1.traj_gen.show_scaled_basis(plot=True)
+    env2 = fancy_gym.make(env2_id, seed=0)
+    env2.traj_gen.show_scaled_basis(plot=True)
+    return
+if __name__ == '__main__':
+    compare_bases_shape("TableTennis4DProDMP-v0", "TableTennis4DProMP-v0")