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add tau, delay bound and update context range

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Hongyi Zhou
2022-11-05 15:56:59 +01:00
parent 6193f87fe7
commit 7d16b420c1
3 changed files with 9 additions and 7 deletions
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fancy_gym/examples/examples_movement_primitives.py
+2 -3
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@@ -22,7 +22,6 @@ def example_mp(env_name="HoleReacherProMP-v0", seed=1, iterations=1, render=True
returns = 0
# env.render(mode=None)
obs = env.reset()
print(obs)
# number of samples/full trajectories (multiple environment steps)
for i in range(iterations):
@@ -51,7 +50,7 @@ def example_mp(env_name="HoleReacherProMP-v0", seed=1, iterations=1, render=True
if done:
# print(reward)
obs = env.reset()
print(obs)
print("steps: {}".format(info["num_steps"][-1]))
def example_custom_mp(env_name="Reacher5dProMP-v0", seed=1, iterations=1, render=True):
@@ -166,7 +165,7 @@ if __name__ == '__main__':
# ProMP
# 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=5, render=render)
example_mp("TableTennis4DProMP-v0", seed=10, iterations=10, render=True)
# ProDMP
# example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=16, render=render)