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biac updates

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This commit is contained in:
Maximilian Huettenrauch
2021-02-16 15:47:32 +01:00
parent 0916daf3b5
commit 7eef78d620
6 changed files with 110 additions and 47 deletions
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alr_envs/utils/detpmp_env_wrapper.py
+5 -3
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@@ -16,13 +16,15 @@ class DetPMPEnvWrapper(gym.Wrapper):
post_traj_time=0.,
policy_type=None,
weights_scale=1,
zero_centered=False):
zero_start=False,
zero_goal=False,
):
super(DetPMPEnvWrapper, self).__init__(env)
self.num_dof = num_dof
self.num_basis = num_basis
self.dim = num_dof * num_basis
self.pmp = det_promp.DeterministicProMP(n_basis=num_basis, n_dof=num_dof, width=width, off=0.01,
zero_centered=zero_centered)
zero_start=zero_start, zero_goal=zero_goal)
weights = np.zeros(shape=(num_basis, num_dof))
self.pmp.set_weights(duration, weights)
self.weights_scale = weights_scale
@@ -32,7 +34,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
self.post_traj_steps = int(post_traj_time / dt)
self.start_pos = start_pos
self.zero_centered = zero_centered
self.zero_centered = zero_start
policy_class = get_policy_class(policy_type)
self.policy = policy_class(env)