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use auto scale basis

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This commit is contained in:
Hongyi Zhou 2022-10-31 16:33:47 +01:00
parent cd2b679e9b
commit 83eb8f7f64
1 changed files with 6 additions and 2 deletions
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8
fancy_gym/envs/__init__.py
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@ -496,8 +496,12 @@ for _v in _versions:
kwargs_dict_box_pushing_prodmp['name'] = _v kwargs_dict_box_pushing_prodmp['name'] = _v
kwargs_dict_box_pushing_prodmp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.]) kwargs_dict_box_pushing_prodmp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.])
kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.]) kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.])
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([3.4944e+01, 4.3734e+01, 9.6711e+01, 2.4429e+02, 5.8272e+02]) # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([3.4944e+01, 4.3734e+01, 9.6711e+01, 2.4429e+02, 5.8272e+02])
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 3.1264e-01 # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 3.1264e-01
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = 0.3
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 5 kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 5
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['alpha'] = 10. kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['alpha'] = 10.
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try