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update on biac simple pmp width

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This commit is contained in:
Maximilian Huettenrauch 2021-04-08 11:05:47 +02:00
parent bafa28edca
commit 4e72f10ee3
2 changed files with 9 additions and 6 deletions
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4
alr_envs/mujoco/ball_in_a_cup/utils.py
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@ -88,13 +88,13 @@ def make_simple_env(rank, seed=0):
env = DetPMPEnvWrapper(env, env = DetPMPEnvWrapper(env,
num_dof=3, num_dof=3,
num_basis=5, num_basis=5,
width=0.005, width=0.02,
policy_type="motor", policy_type="motor",
start_pos=env.start_pos[1::2], start_pos=env.start_pos[1::2],
duration=3.5, duration=3.5,
post_traj_time=4.5, post_traj_time=4.5,
dt=env.dt, dt=env.dt,
weights_scale=0.5, weights_scale=0.2,
zero_start=True, zero_start=True,
zero_goal=True zero_goal=True
) )

11
dmp_pd_control_example.py
View File

@ -1,11 +1,11 @@
from alr_envs.mujoco.ball_in_a_cup.utils import make_env from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env
from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
import numpy as np import numpy as np
if __name__ == "__main__": if __name__ == "__main__":
dim = 35 dim = 15
n_cpus = 4 n_cpus = 4
# n_samples = 10 # n_samples = 10
@ -18,9 +18,12 @@ if __name__ == "__main__":
# rewards, infos = vec_env(params) # rewards, infos = vec_env(params)
# print(rewards) # print(rewards)
# #
non_vec_env = make_env(0, 0)() non_vec_env = make_simple_env(0, 0)()
params = 0.5 * np.random.randn(dim) # params = 0.5 * np.random.randn(dim)
params = np.array([[11.90777345, 4.47656072, -2.49030537, 2.29386444, -3.5645336 ,
2.97729181, 4.65224072, 3.72020235, 4.3658366 , -5.8489886 ,
9.8045112 , 2.95405854, 4.56178261, 4.70669295, 4.55522522]])
out2 = non_vec_env.rollout(params, render=True) out2 = non_vec_env.rollout(params, render=True)