dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

reacher envs pass unittests

Browse Source
This commit is contained in:
Maximilian Huettenrauch
2021-11-30 12:05:19 +01:00
parent dc6df7a7c0
commit 655d52aa35
7 changed files with 24 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
alr_envs/examples/examples_motion_primitives.py
+5 -5
View File
@@ -112,7 +112,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
# Replace this wrapper with the custom wrapper for your environment by inheriting from the MPEnvWrapper.
# You can also add other gym.Wrappers in case they are needed.
wrappers = [alr_envs.classic_control.hole_reacher.MPWrapper]
wrappers = [alr_envs.alr.classic_control.hole_reacher.MPWrapper]
mp_kwargs = {
"num_dof": 5,
"num_basis": 5,
@@ -147,15 +147,15 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = False
render = True
# DMP
example_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=10, render=render)
example_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=1, render=render)
# ProMP
example_mp("alr_envs:HoleReacherProMP-v1", seed=10, iterations=100, render=render)
example_mp("alr_envs:HoleReacherProMP-v1", seed=10, iterations=1, render=render)
# DetProMP
example_mp("alr_envs:HoleReacherDetPMP-v1", seed=10, iterations=100, render=render)
example_mp("alr_envs:HoleReacherDetPMP-v1", seed=10, iterations=1, render=render)
# Altered basis functions
example_custom_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=1, render=render)