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add weights scaling for box pushing replanning

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This commit is contained in:
Hongyi Zhou
2022-10-25 20:10:59 +02:00
parent c457fbbfeb
commit 556bfd0b35
6 changed files with 28 additions and 11 deletions
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fancy_gym/examples/examples_movement_primitives.py
+6 -6
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@@ -157,17 +157,17 @@ 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)
# ProDMP
example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=1, render=render)
example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=16, 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)