From 96e8d01fb6d2e90903b59b8796ba9ba2af142908 Mon Sep 17 00:00:00 2001 From: Hongyi Zhou Date: Sun, 9 Apr 2023 22:17:15 +0200 Subject: [PATCH] enlarge t0 & T bounds for ProDMP --- fancy_gym/envs/__init__.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py index fa65e8b..b5b7a16 100644 --- a/fancy_gym/envs/__init__.py +++ b/fancy_gym/envs/__init__.py @@ -587,8 +587,8 @@ for _v in _versions: kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = False kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True - kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5] - kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15] + kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.5, 2.0] + kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.02, 0.2] kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_tau'] = True kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_delay'] = True kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 3