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change time limits for tt to 350

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This commit is contained in:
Hongyi Zhou 2022-12-01 14:04:11 +01:00
parent fa9a35d470
commit 5744d339ac
3 changed files with 8 additions and 9 deletions
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1
fancy_gym/envs/__init__.py
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@ -561,7 +561,6 @@ for _v in _versions:
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis'] = 3
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_start'] = 2
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_goal'] = 1
kwargs_dict_tt_promp['black_box_kwargs']['duration'] = 2.
kwargs_dict_tt_promp['black_box_kwargs']['verbose'] = 2
register(
id=_env_id,

2
fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
View File

@ -9,7 +9,7 @@ from fancy_gym.envs.mujoco.table_tennis.table_tennis_utils import jnt_pos_low, j
import mujoco
MAX_EPISODE_STEPS_TABLE_TENNIS = 250
MAX_EPISODE_STEPS_TABLE_TENNIS = 350
CONTEXT_BOUNDS_2DIMS = np.array([[-1.0, -0.65], [-0.2, 0.65]])
CONTEXT_BOUNDS_4DIMS = np.array([[-1.0, -0.65, -1.0, -0.65],

14
fancy_gym/examples/examples_movement_primitives.py
View File

@ -155,22 +155,22 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = False
render = True
# DMP
# 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("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
example_mp("TableTennisWindProMP-v0", seed=10, iterations=20, render=render)
example_mp("TableTennisGoalSwitchingProMP-v0", seed=10, iterations=20, render=render)
# ProDMP
example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
example_mp("TableTennis4DProDMP-v0", seed=10, iterations=20, render=render)
example_mp("TableTennisWindProDMP-v0", seed=10, iterations=20, render=render)
example_mp("TableTennisGoalSwitchingProDMP-v0", seed=10, iterations=20, render=render)
# ProDMP with Replanning
# example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
# example_mp("TableTennis4DProDMP-v0", seed=10, iterations=100, render=render)
# example_mp("TableTennisWindProDMP-v0", seed=10, iterations=100, render=render)
# example_mp("TableTennisGoalSwitchingProDMP-v0", seed=10, iterations=100, render=render)
# Altered basis functions
# obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)