From 89833164ddfc1e36d0a6c9873a546ffb88184acc Mon Sep 17 00:00:00 2001 From: "hongyi.zhou" Date: Thu, 6 Apr 2023 09:49:20 +0200 Subject: [PATCH] enable autoscale for prodmp --- fancy_gym/envs/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py index e6c0c80..d4a0fa2 100644 --- a/fancy_gym/envs/__init__.py +++ b/fancy_gym/envs/__init__.py @@ -583,7 +583,7 @@ for _v in _versions: kwargs_dict_tt_prodmp['name'] = _v 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'] = False + 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['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5] kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]