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

update readme and init

Browse Source
This commit is contained in:
Maximilian Huettenrauch
2021-04-23 12:16:19 +02:00
parent db001c411f
commit ba0b612868
2 changed files with 41 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
alr_envs/__init__.py
+26 -7
View File
@@ -72,7 +72,7 @@ register(
)
register(
id='ALRBallInACupSimple-v0',
id='ALRBallInACup-v0',
entry_point='alr_envs.mujoco:ALRBallInACupEnv',
max_episode_steps=4000,
kwargs={
@@ -209,7 +209,7 @@ register(
id='ALRBallInACupSimpleDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
kwargs={
"name": "alr_envs:ALRBallInACupSimple-v0",
"name": "alr_envs:ALRBallInACup-v0",
"num_dof": 3,
"num_basis": 5,
"duration": 3.5,
@@ -223,18 +223,37 @@ register(
}
)
register(
id='ALRBallInACupDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
kwargs={
"name": "alr_envs:ALRBallInACup-v0",
"num_dof": 7,
"num_basis": 5,
"duration": 3.5,
"post_traj_time": 4.5,
"learn_goal": False,
"alpha_phase": 3,
"bandwidth_factor": 2.5,
"policy_type": "motor",
"weights_scale": 100,
"return_to_start": True
}
)
register(
id='ALRBallInACupGoalDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
kwargs={
"name": "alr_envs:ALRBallInACupGoal-v0",
"num_dof": 5,
"num_dof": 7,
"num_basis": 5,
"duration": 2,
"duration": 3.5,
"post_traj_time": 4.5,
"learn_goal": True,
"alpha_phase": 2,
"bandwidth_factor": 2,
"policy_type": "velocity",
"alpha_phase": 3,
"bandwidth_factor": 2.5,
"policy_type": "motor",
"weights_scale": 50,
"goal_scale": 0.1
}