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ported mp_config for mujoco/box_pushing

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This commit is contained in:
Dominik Moritz Roth 2023-07-20 11:44:50 +02:00
parent 17d370e2ba
commit 8d26cccc35
1 changed files with 10 additions and 0 deletions
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fancy_gym/envs/mujoco/reacher/mp_wrapper.py
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@ -7,6 +7,16 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {},
'DMP': {
'phase_generator_kwargs': {
'alpha_phase': 2,
},
},
'ProDMP': {},
}
@property @property
def context_mask(self): def context_mask(self):
return np.concatenate([[False] * self.n_links, # cos return np.concatenate([[False] * self.n_links, # cos