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add prodmp for table tennis

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hongyi.zhou 2023-04-06 09:46:55 +02:00
parent b415be4b4d
commit 56d46c9ffc
1 changed files with 30 additions and 0 deletions
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30
fancy_gym/envs/__init__.py
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@ -572,6 +572,36 @@ for _v in _versions:
) )
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id) ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
for _v in _versions:
_name = _v.split("-")
_env_id = f'{_name[0]}ProDMP-{_name[1]}'
kwargs_dict_tt_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
if _v == 'TableTennisWind-v0':
kwargs_dict_tt_prodmp['wrappers'].append(mujoco.table_tennis.TTVelObs_MPWrapper)
else:
kwargs_dict_tt_prodmp['wrappers'].append(mujoco.table_tennis.TT_MPWrapper)
kwargs_dict_tt_prodmp['name'] = _v
kwargs_dict_tt_prodmp['controller_kwargs']['p_gains'] = 0.5 * np.array([1.0, 4.0, 2.0, 4.0, 1.0, 4.0, 1.0])
kwargs_dict_tt_prodmp['controller_kwargs']['d_gains'] = 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1])
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = False
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_tau'] = True
kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_delay'] = True
kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 2
kwargs_dict_tt_prodmp['basis_generator_kwargs']['alpha'] = 25.
kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
# kwargs_dict_tt_prodmp['black_box_kwargs']['max_planning_times'] = 3
# kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 50 == 0
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_tt_prodmp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
for _v in _versions: for _v in _versions:
_name = _v.split("-") _name = _v.split("-")
_env_id = f'{_name[0]}ReplanProDMP-{_name[1]}' _env_id = f'{_name[0]}ReplanProDMP-{_name[1]}'