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enable autoscale for prodmp

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hongyi.zhou 2023-04-06 09:49:20 +02:00
parent 56d46c9ffc
commit 89833164dd
1 changed files with 1 additions and 1 deletions
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2
fancy_gym/envs/__init__.py
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@ -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]