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weight_scale -> weights_scale

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This commit is contained in:
Dominik Moritz Roth 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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4
fancy_gym/dmc/manipulation/reach_site/mp_wrapper.py
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@ -13,7 +13,7 @@ class MPWrapper(RawInterfaceWrapper):
'p_gains': 50.0, 'p_gains': 50.0,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 0.2, 'weights_scale': 0.2,
}, },
}, },
'DMP': { 'DMP': {
@ -25,7 +25,7 @@ class MPWrapper(RawInterfaceWrapper):
'alpha_phase': 2, 'alpha_phase': 2,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 500, 'weights_scale': 500,
}, },
}, },
'ProDMP': {}, 'ProDMP': {},

2
fancy_gym/dmc/suite/ball_in_cup/mp_wrapper.py
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@ -20,7 +20,7 @@ class MPWrapper(RawInterfaceWrapper):
'alpha_phase': 2, 'alpha_phase': 2,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 10 'weights_scale': 10
}, },
}, },
'ProDMP': {}, 'ProDMP': {},

4
fancy_gym/dmc/suite/cartpole/mp_wrapper.py
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@ -13,7 +13,7 @@ class MPWrapper(RawInterfaceWrapper):
'd_gains': 10, 'd_gains': 10,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 0.2, 'weights_scale': 0.2,
}, },
}, },
'DMP': { 'DMP': {
@ -25,7 +25,7 @@ class MPWrapper(RawInterfaceWrapper):
'alpha_phase': 2, 'alpha_phase': 2,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 500, 'weights_scale': 500,
}, },
}, },
'ProDMP': {}, 'ProDMP': {},

4
fancy_gym/dmc/suite/reacher/mp_wrapper.py
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@ -10,7 +10,7 @@ class MPWrapper(RawInterfaceWrapper):
'ProMP': { 'ProMP': {
'controller_kwargs': { 'controller_kwargs': {
'p_gains': 50.0, 'p_gains': 50.0,
'weight_scale': 0.2, 'weights_scale': 0.2,
}, },
}, },
'DMP': { 'DMP': {
@ -21,7 +21,7 @@ class MPWrapper(RawInterfaceWrapper):
'alpha_phase': 2, 'alpha_phase': 2,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 500, 'weights_scale': 500,
}, },
}, },
'ProDMP': {}, 'ProDMP': {},

4
fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py
View File

@ -13,7 +13,7 @@ class MPWrapper(RawInterfaceWrapper):
'controller_type': 'velocity', 'controller_type': 'velocity',
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 2, 'weights_scale': 2,
}, },
}, },
'DMP': { 'DMP': {
@ -22,7 +22,7 @@ class MPWrapper(RawInterfaceWrapper):
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
# TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check # TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
'weight_scale': 500, 'weights_scale': 500,
}, },
'phase_generator_kwargs': { 'phase_generator_kwargs': {
'alpha_phase': 2.5, 'alpha_phase': 2.5,

2
fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py
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@ -20,7 +20,7 @@ class MPWrapper(RawInterfaceWrapper):
'd_gains': 0.075, 'd_gains': 0.075,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 50, 'weights_scale': 50,
}, },
'phase_generator_kwargs': { 'phase_generator_kwargs': {
'alpha_phase': 2, 'alpha_phase': 2,

2
fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py
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@ -18,7 +18,7 @@ class MPWrapper(RawInterfaceWrapper):
'controller_type': 'velocity', 'controller_type': 'velocity',
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weight_scale': 50, 'weights_scale': 50,
}, },
'phase_generator_kwargs': { 'phase_generator_kwargs': {
'alpha_phase': 2, 'alpha_phase': 2,

6
fancy_gym/examples/example_replanning_envs.py
View File

@ -1,5 +1,6 @@
import fancy_gym import fancy_gym
def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False): def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False):
env = fancy_gym.make(env_name, seed=seed) env = fancy_gym.make(env_name, seed=seed)
env.reset() env.reset()
@ -15,6 +16,7 @@ def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1
env.close() env.close()
del env del env
def example_custom_replanning_envs(seed=0, iteration=100, render=True): def example_custom_replanning_envs(seed=0, iteration=100, render=True):
# id for a step-based environment # id for a step-based environment
base_env_id = "BoxPushingDense-v0" 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] wrappers = [fancy_gym.envs.mujoco.box_pushing.mp_wrapper.MPWrapper]
trajectory_generator_kwargs = {'trajectory_generator_type': 'prodmp', trajectory_generator_kwargs = {'trajectory_generator_type': 'prodmp',
'weight_scale': 1} 'weights_scale': 1}
phase_generator_kwargs = {'phase_generator_type': 'exp'} phase_generator_kwargs = {'phase_generator_type': 'exp'}
controller_kwargs = {'controller_type': 'velocity'} controller_kwargs = {'controller_type': 'velocity'}
basis_generator_kwargs = {'basis_generator_type': 'prodmp', 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) example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False)
# run a custom replanning environment # 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)

4
fancy_gym/examples/examples_movement_primitives.py
View File

@ -114,7 +114,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
# For a ProMP # For a ProMP
trajectory_generator_kwargs = {'trajectory_generator_type': 'promp', trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
'weight_scale': 2} 'weights_scale': 2}
phase_generator_kwargs = {'phase_generator_type': 'linear'} phase_generator_kwargs = {'phase_generator_type': 'linear'}
controller_kwargs = {'controller_type': 'velocity'} controller_kwargs = {'controller_type': 'velocity'}
basis_generator_kwargs = {'basis_generator_type': 'zero_rbf', 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 # # For a DMP
# trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp', # trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
# 'weight_scale': 500} # 'weights_scale': 500}
# phase_generator_kwargs = {'phase_generator_type': 'exp', # phase_generator_kwargs = {'phase_generator_type': 'exp',
# 'alpha_phase': 2.5} # 'alpha_phase': 2.5}
# controller_kwargs = {'controller_type': 'velocity'} # controller_kwargs = {'controller_type': 'velocity'}