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weight_scale -> weights_scale

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dodox
2023-07-30 17:51:37 +02:00
parent e63a0a50df
commit bc3f540daf
9 changed files with 17 additions and 15 deletions
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fancy_gym/examples/example_replanning_envs.py
+4 -2
View File
@@ -1,5 +1,6 @@
import fancy_gym
def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False):
env = fancy_gym.make(env_name, seed=seed)
env.reset()
@@ -15,6 +16,7 @@ def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1
env.close()
del env
def example_custom_replanning_envs(seed=0, iteration=100, render=True):
# id for a step-based environment
base_env_id = "BoxPushingDense-v0"
@@ -22,7 +24,7 @@ def example_custom_replanning_envs(seed=0, iteration=100, render=True):
wrappers = [fancy_gym.envs.mujoco.box_pushing.mp_wrapper.MPWrapper]
trajectory_generator_kwargs = {'trajectory_generator_type': 'prodmp',
'weight_scale': 1}
'weights_scale': 1}
phase_generator_kwargs = {'phase_generator_type': 'exp'}
controller_kwargs = {'controller_type': 'velocity'}
basis_generator_kwargs = {'basis_generator_type': 'prodmp',
@@ -59,4 +61,4 @@ if __name__ == "__main__":
example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False)
# run a custom replanning environment
example_custom_replanning_envs(seed=0, iteration=8, render=True)
example_custom_replanning_envs(seed=0, iteration=8, render=True)
fancy_gym/examples/examples_movement_primitives.py
+2 -2
View File
@@ -114,7 +114,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
# For a ProMP
trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
'weight_scale': 2}
'weights_scale': 2}
phase_generator_kwargs = {'phase_generator_type': 'linear'}
controller_kwargs = {'controller_type': 'velocity'}
basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
@@ -124,7 +124,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
# # For a DMP
# trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
# 'weight_scale': 500}
# 'weights_scale': 500}
# phase_generator_kwargs = {'phase_generator_type': 'exp',
# 'alpha_phase': 2.5}
# controller_kwargs = {'controller_type': 'velocity'}