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fixed ball in the cup gains

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This commit is contained in:
ottofabian 2021-07-02 17:35:40 +02:00
parent 80933eba09
commit 4fafe86764
2 changed files with 12 additions and 8 deletions
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10
alr_envs/__init__.py
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@ -537,8 +537,8 @@ register(
"weights_scale": 50, "weights_scale": 50,
"goal_scale": 0.1, "goal_scale": 0.1,
"policy_kwargs": { "policy_kwargs": {
"p_gains": 0.2, "p_gains": 50,
"d_gains": 0.05 "d_gains": 1
} }
} }
} }
@ -555,12 +555,12 @@ register(
"num_basis": 5, "num_basis": 5,
"duration": 20, "duration": 20,
"width": 0.025, "width": 0.025,
"policy_type": "velocity", "policy_type": "motor",
"weights_scale": 0.2, "weights_scale": 0.2,
"zero_start": True, "zero_start": True,
"policy_kwargs": { "policy_kwargs": {
"p_gains": 0.2, "p_gains": 50,
"d_gains": 0.05 "d_gains": 1
} }
} }
} }

10
alr_envs/examples/examples_dmc.py
View File

@ -64,15 +64,19 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
# You can also add other gym.Wrappers in case they are needed. # You can also add other gym.Wrappers in case they are needed.
wrappers = [DMCBallInCupMPWrapper] wrappers = [DMCBallInCupMPWrapper]
mp_kwargs = { mp_kwargs = {
"num_dof": 2, # env.start_pos "num_dof": 2,
"num_basis": 5, "num_basis": 5,
"duration": 20, "duration": 20,
"learn_goal": True, "learn_goal": True,
"alpha_phase": 2, "alpha_phase": 2,
"bandwidth_factor": 2, "bandwidth_factor": 2,
"policy_type": "velocity", "policy_type": "motor",
"weights_scale": 50, "weights_scale": 50,
"goal_scale": 0.1 "goal_scale": 0.1,
"policy_kwargs": {
"p_gains": 0.2,
"d_gains": 0.05
}
} }
env = make_dmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs) env = make_dmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
# OR for a deterministic ProMP: # OR for a deterministic ProMP: