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mp_config for vanilla gym Reacher

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This commit is contained in:
Dominik Moritz Roth 2023-09-17 19:05:25 +02:00
parent a76967a498
commit 89bd6781c7
1 changed files with 22 additions and 0 deletions
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22
fancy_gym/open_ai/mujoco/reacher_v2/mp_wrapper.py
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@ -6,6 +6,28 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {
"trajectory_generator_kwargs": {
'trajectory_generator_type': 'promp'
},
"phase_generator_kwargs": {
'phase_generator_type': 'linear'
},
"controller_kwargs": {
'controller_type': 'motor',
"p_gains": 0.6,
"d_gains": 0.075,
},
"basis_generator_kwargs": {
'basis_generator_type': 'zero_rbf',
'num_basis': 6,
'num_basis_zero_start': 1
}
},
'DMP': {},
'ProDMP': {},
}
@property @property
def current_vel(self) -> Union[float, int, np.ndarray]: def current_vel(self) -> Union[float, int, np.ndarray]: