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add disable goal & relative goal to tt prodmp

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This commit is contained in:
hongyi.zhou 2023-04-06 13:29:43 +02:00
parent 2add522298
commit 7f38292937
2 changed files with 5 additions and 6 deletions
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9
fancy_gym/envs/__init__.py
View File

@ -557,8 +557,8 @@ for _v in _versions:
kwargs_dict_tt_promp['name'] = _v
kwargs_dict_tt_promp['controller_kwargs']['p_gains'] = 0.5 * np.array([1.0, 4.0, 2.0, 4.0, 1.0, 4.0, 1.0])
kwargs_dict_tt_promp['controller_kwargs']['d_gains'] = 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1])
kwargs_dict_tt_promp['phase_generator_kwargs']['learn_tau'] = True
kwargs_dict_tt_promp['phase_generator_kwargs']['learn_delay'] = True
kwargs_dict_tt_promp['phase_generator_kwargs']['learn_tau'] = False
kwargs_dict_tt_promp['phase_generator_kwargs']['learn_delay'] = False
kwargs_dict_tt_promp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
kwargs_dict_tt_promp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis'] = 3
@ -584,7 +584,8 @@ for _v in _versions:
kwargs_dict_tt_prodmp['controller_kwargs']['p_gains'] = 0.5 * np.array([1.0, 4.0, 2.0, 4.0, 1.0, 4.0, 1.0])
kwargs_dict_tt_prodmp['controller_kwargs']['d_gains'] = 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1])
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = True
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True
kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_tau'] = True
@ -593,8 +594,6 @@ for _v in _versions:
kwargs_dict_tt_prodmp['basis_generator_kwargs']['alpha'] = 25.
kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
# kwargs_dict_tt_prodmp['black_box_kwargs']['max_planning_times'] = 3
# kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 50 == 0
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',

2
fancy_gym/examples/mp_params_tuning.py
View File

@ -7,4 +7,4 @@ def compare_bases_shape(env1_id, env2_id):
env2.traj_gen.show_scaled_basis(plot=True)
return
if __name__ == '__main__':
compare_bases_shape("BoxPushingDenseReplanProDMP-v0", "BoxPushingDenseProMP-v0")
compare_bases_shape("TableTennis4DProDMP-v0", "TableTennis4DProMP-v0")