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ported mp_config for mujoco/beerpong

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This commit is contained in:
Dominik Moritz Roth 2023-07-23 10:03:18 +02:00
parent 83d5d39b42
commit 64e6ac5323
1 changed files with 37 additions and 0 deletions
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37
fancy_gym/envs/mujoco/beerpong/mp_wrapper.py
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@ -6,6 +6,23 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {
'phase_generator_kwargs': {
'learn_tau': True
},
'controller_kwargs': {
'p_gains': np.array([1.5, 5, 2.55, 3, 2., 2, 1.25]),
'd_gains': np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125]),
},
'basis_generator_kwargs': {
'num_basis': 2,
'num_basis_zero_start': 2,
},
},
'DMP': {},
'ProDMP': {},
}
@property @property
def context_mask(self) -> np.ndarray: def context_mask(self) -> np.ndarray:
@ -39,3 +56,23 @@ class MPWrapper(RawInterfaceWrapper):
xyz[-1] = 0.840 xyz[-1] = 0.840
self.model.body_pos[self.cup_table_id] = xyz self.model.body_pos[self.cup_table_id] = xyz
return self.get_observation_from_step(self.get_obs()) return self.get_observation_from_step(self.get_obs())
class MPWrapper_FixedRelease(MPWrapper):
mp_config = {
'ProMP': {
'phase_generator_kwargs': {
'tau': 0.62,
},
'controller_kwargs': {
'p_gains': np.array([1.5, 5, 2.55, 3, 2., 2, 1.25]),
'd_gains': np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125]),
},
'basis_generator_kwargs': {
'num_basis': 2,
'num_basis_zero_start': 2,
},
},
'DMP': {},
'ProDMP': {},
}