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

change mp configs for box pushing & add joint states to observation

Browse Source
This commit is contained in:
Hongyi Zhou 2022-10-26 14:04:53 +02:00
parent 4d67bfdaa7
commit a8ffa791b8
2 changed files with 8 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
fancy_gym/envs/__init__.py
View File

@ -496,8 +496,12 @@ for _v in _versions:
kwargs_dict_box_pushing_prodmp['name'] = _v kwargs_dict_box_pushing_prodmp['name'] = _v
kwargs_dict_box_pushing_prodmp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.]) kwargs_dict_box_pushing_prodmp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.])
kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.]) kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.])
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([3.4944e+01, 4.3734e+01, 9.6711e+01, 2.4429e+02, 5.8272e+02]) # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([3.4944e+01, 4.3734e+01, 9.6711e+01, 2.4429e+02, 5.8272e+02])
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 3.1264e-01 # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 3.1264e-01
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([100., 166., 500., 1000.])
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 1.
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 4
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['alpha'] = 10.
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']['replanning_schedule'] = lambda pos, vel, obs, action, t: t % 25 == 0
register( register(
id=_env_id, id=_env_id,

4
fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py
View File

@ -11,8 +11,8 @@ class MPWrapper(RawInterfaceWrapper):
@property @property
def context_mask(self): def context_mask(self):
return np.hstack([ return np.hstack([
[False] * 7, # joints position [True] * 7, # joints position
[False] * 7, # joints velocity [True] * 7, # joints velocity
[False] * 7, # joints gravity compensation [False] * 7, # joints gravity compensation
[False] * 3, # position of rod tip [False] * 3, # position of rod tip
[False] * 4, # orientation of rod [False] * 4, # orientation of rod