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update mp_params for box pushing and tt

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This commit is contained in:
Hongyi Zhou 2023-03-12 12:27:44 +01:00
parent 344c11d67a
commit b415be4b4d
2 changed files with 14 additions and 2 deletions
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6
fancy_gym/envs/__init__.py
View File

@ -77,6 +77,7 @@ DEFAULT_BB_DICT_ProDMP = {
}, },
"phase_generator_kwargs": { "phase_generator_kwargs": {
'phase_generator_type': 'exp', 'phase_generator_type': 'exp',
'tau': 1.5,
}, },
"controller_kwargs": { "controller_kwargs": {
'controller_type': 'motor', 'controller_type': 'motor',
@ -529,7 +530,8 @@ for _v in _versions:
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3 kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0 kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 4 kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['disable_goal'] = True
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 5
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3 kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_planning_times'] = 4 kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_planning_times'] = 4
@ -560,7 +562,7 @@ for _v in _versions:
kwargs_dict_tt_promp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5] kwargs_dict_tt_promp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
kwargs_dict_tt_promp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15] kwargs_dict_tt_promp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis'] = 3 kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis'] = 3
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_start'] = 2 kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_start'] = 1
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_goal'] = 1 kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_goal'] = 1
kwargs_dict_tt_promp['black_box_kwargs']['verbose'] = 2 kwargs_dict_tt_promp['black_box_kwargs']['verbose'] = 2
register( register(

10
fancy_gym/examples/mp_params_tuning.py Normal file
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@ -0,0 +1,10 @@
import fancy_gym
def compare_bases_shape(env1_id, env2_id):
env1 = fancy_gym.make(env1_id, seed=0)
env1.traj_gen.show_scaled_basis(plot=True)
env2 = fancy_gym.make(env2_id, seed=0)
env2.traj_gen.show_scaled_basis(plot=True)
return
if __name__ == '__main__':
compare_bases_shape("BoxPushingDenseReplanProDMP-v0", "BoxPushingDenseProMP-v0")