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added MPEnv

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ottofabian
2021-05-12 09:52:25 +02:00
parent b4ad3e6ddd
commit 95e9b8be47
11 changed files with 200 additions and 168 deletions
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alr_envs/utils/legacy/utils.py
+5 -5
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@@ -1,7 +1,7 @@
import alr_envs.classic_control.hole_reacher as hr
import alr_envs.classic_control.viapoint_reacher as vpr
from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
from alr_envs.utils.wrapper.detpmp_wrapper import DetPMPWrapper
from alr_envs.utils.mps.dmp_wrapper import DmpWrapper
from alr_envs.utils.mps.detpmp_wrapper import DetPMPWrapper
import numpy as np
@@ -65,7 +65,7 @@ def make_holereacher_env(rank, seed=0):
dt=_env.dt,
learn_goal=True,
alpha_phase=2,
start_pos=_env.start_pos,
start_pos=_env._start_pos,
policy_type="velocity",
weights_scale=50,
goal_scale=0.1
@@ -105,7 +105,7 @@ def make_holereacher_fix_goal_env(rank, seed=0):
learn_goal=False,
final_pos=np.array([2.02669572, -1.25966385, -1.51618198, -0.80946476, 0.02012344]),
alpha_phase=2,
start_pos=_env.start_pos,
start_pos=_env._start_pos,
policy_type="velocity",
weights_scale=50,
goal_scale=1
@@ -142,7 +142,7 @@ def make_holereacher_env_pmp(rank, seed=0):
num_basis=5,
width=0.02,
policy_type="velocity",
start_pos=_env.start_pos,
start_pos=_env._start_pos,
duration=2,
post_traj_time=0,
dt=_env.dt,