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add replan name tag to replan envs & delete redundant settings

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This commit is contained in:
Hongyi Zhou
2022-12-01 14:23:57 +01:00
parent 5744d339ac
commit 5750f6eb3d
3 changed files with 13 additions and 21 deletions
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fancy_gym/examples/examples_movement_primitives.py
+9 -12
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@@ -155,25 +155,22 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = True
render = False
# 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)
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 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)
example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
example_mp("TableTennis4DReplanProDMP-v0", seed=10, iterations=20, render=render)
example_mp("TableTennisWindReplanProDMP-v0", seed=10, iterations=20, 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)