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temporal saving

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xb1196@partner.kit.edu 2022-11-25 16:02:52 +01:00
parent b883ad63b7
commit 932431a120
3 changed files with 6 additions and 6 deletions
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4
fancy_gym/envs/__init__.py
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@ -262,7 +262,7 @@ for ctxt_dim in [2, 4]:
'enable_wind': False, 'enable_wind': False,
'enable_switching_goal': False, 'enable_switching_goal': False,
'enable_air': False, 'enable_air': False,
'enable_artifical_wind': True, 'enable_artifical_wind': False,
} }
) )
@ -578,7 +578,7 @@ for _v in _versions:
kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 2 kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 2
kwargs_dict_tt_prodmp['basis_generator_kwargs']['alpha'] = 25. kwargs_dict_tt_prodmp['basis_generator_kwargs']['alpha'] = 25.
kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try
kwargs_dict_tt_prodmp['basis_generator_kwargs']['pre_compute_length_factor'] = 5 #kwargs_dict_tt_prodmp['basis_generator_kwargs']['pre_compute_length_factor'] = 5
kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3 kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
kwargs_dict_tt_prodmp['black_box_kwargs']['max_planning_times'] = 3 kwargs_dict_tt_prodmp['black_box_kwargs']['max_planning_times'] = 3
kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 50 == 0 kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 50 == 0

2
fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
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@ -16,7 +16,7 @@ class MPWrapper(RawInterfaceWrapper):
[False] * 7, # joints velocity [False] * 7, # joints velocity
[True] * 2, # position ball x, y [True] * 2, # position ball x, y
[False] * 1, # position ball z [False] * 1, # position ball z
[True] * 3, # velocity ball x, y, z #[True] * 3, # velocity ball x, y, z
[True] * 2, # target landing position [True] * 2, # target landing position
# [True] * 1, # time # [True] * 1, # time
]) ])

6
fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
View File

@ -208,9 +208,9 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
self.data.joint("tar_x").qpos.copy(), self.data.joint("tar_x").qpos.copy(),
self.data.joint("tar_y").qpos.copy(), self.data.joint("tar_y").qpos.copy(),
self.data.joint("tar_z").qpos.copy(), self.data.joint("tar_z").qpos.copy(),
self.data.joint("tar_x").qvel.copy(), #self.data.joint("tar_x").qvel.copy(),
self.data.joint("tar_y").qvel.copy(), #self.data.joint("tar_y").qvel.copy(),
self.data.joint("tar_z").qvel.copy(), #self.data.joint("tar_z").qvel.copy(),
# self.data.body("target_ball").xvel.copy(), # self.data.body("target_ball").xvel.copy(),
self._goal_pos.copy(), self._goal_pos.copy(),
]) ])