From 948ca31bab9f318540e893d0fb72a573dc33bd47 Mon Sep 17 00:00:00 2001 From: Maximilian Huettenrauch Date: Mon, 29 Mar 2021 14:52:44 +0200 Subject: [PATCH] biac weight scale 0.2 --- alr_envs/mujoco/ball_in_a_cup/utils.py | 2 +- dmp_pd_control_example.py | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/alr_envs/mujoco/ball_in_a_cup/utils.py b/alr_envs/mujoco/ball_in_a_cup/utils.py index 876875c..a9a7098 100644 --- a/alr_envs/mujoco/ball_in_a_cup/utils.py +++ b/alr_envs/mujoco/ball_in_a_cup/utils.py @@ -60,7 +60,7 @@ def make_env(rank, seed=0): duration=3.5, post_traj_time=4.5, dt=env.dt, - weights_scale=0.25, + weights_scale=0.2, zero_start=True, zero_goal=True ) diff --git a/dmp_pd_control_example.py b/dmp_pd_control_example.py index 44cd668..9cb8798 100644 --- a/dmp_pd_control_example.py +++ b/dmp_pd_control_example.py @@ -1,11 +1,11 @@ -from alr_envs.mujoco.ball_in_a_cup.utils import make_simple_env +from alr_envs.mujoco.ball_in_a_cup.utils import make_env from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv import numpy as np if __name__ == "__main__": - dim = 15 + dim = 35 n_cpus = 4 # n_samples = 10 @@ -18,9 +18,9 @@ if __name__ == "__main__": # rewards, infos = vec_env(params) # print(rewards) # - non_vec_env = make_simple_env(0, 0)() + non_vec_env = make_env(0, 0)() - params = 0.1 * np.random.randn(dim) + params = 0.5 * np.random.randn(dim) out2 = non_vec_env.rollout(params, render=True)