dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

fix some typos

Browse Source
This commit is contained in:
Hongyi Zhou 2022-11-20 22:00:02 +01:00
parent 2674bf80fe
commit 9539ba1424
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
fancy_gym/envs/__init__.py
View File

@ -500,7 +500,7 @@ for _v in _versions:
kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_planning_times'] = 2
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 25 == 0
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['condition_on_desried'] = True
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['condition_on_desired'] = True
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',

4
fancy_gym/examples/example_replanning_envs.py
View File

@ -33,7 +33,7 @@ def example_custom_replanning_envs(seed=0, iteration=100, render=True):
# condition_on_desired: use desired state as the boundary condition for the next plan
black_box_kwargs = {'max_planning_times': 4,
'replanning_schedule': lambda pos, vel, obs, action, t: t % 25 == 0,
'desired_traj_bc': True}
'condition_on_desired': True}
env = fancy_gym.make_bb(env_id=base_env_id, wrappers=wrappers, black_box_kwargs=black_box_kwargs,
traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
@ -59,4 +59,4 @@ if __name__ == "__main__":
example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False)
# run a custom replanning environment
example_custom_replanning_envs(seed=0, iteration=100, render=True)
example_custom_replanning_envs(seed=0, iteration=8, render=True)