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biac weight scale 0.2

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This commit is contained in:
Maximilian Huettenrauch 2021-03-29 14:52:44 +02:00
parent f730cb92ba
commit 948ca31bab
2 changed files with 5 additions and 5 deletions
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2
alr_envs/mujoco/ball_in_a_cup/utils.py
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@ -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
)

8
dmp_pd_control_example.py
View File

@ -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)