temporal updates

fancy_gym/examples/examples_movement_primitives.py

@@ -40,6 +40,8 @@ def example_mp(env_name="HoleReacherProMP-v0", seed=1, iterations=1, render=True
         # Now the action space is not the raw action but the parametrization of the trajectory generator,
         # such as a ProMP
         ac = env.action_space.sample()
+        # ac[0] = 0.6866657733917236
+        # ac[1] = 0.08587364107370377
         # This executes a full trajectory and gives back the context (obs) of the last step in the trajectory, or the
         # full observation space of the last step, if replanning/sub-trajectory learning is used. The 'reward' is equal
         # to the return of a trajectory. Default is the sum over the step-wise rewards.
@@ -50,7 +52,8 @@ def example_mp(env_name="HoleReacherProMP-v0", seed=1, iterations=1, render=True
         if done:
             # print(reward)
             obs = env.reset()
-            print("steps: {}".format(info["num_steps"][-1]))
+            print("=================New Episode======================")
+            # print("steps: {}".format(info["num_steps"][-1]))
 
 
 def example_custom_mp(env_name="Reacher5dProMP-v0", seed=1, iterations=1, render=True):
@@ -158,17 +161,18 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 
 
 if __name__ == '__main__':
-    render = True
+    render = False
     # DMP
     # example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
 
     # ProMP
     # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
     # example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
-    example_mp("TableTennis4DProMP-v0", seed=10, iterations=10, render=True)
+    # example_mp("TableTennis4DProMP-v0", seed=10, iterations=10, render=True)
 
     # ProDMP
     # example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=16, render=render)
+    example_mp("TableTennis4DProDMP-v0", seed=10, iterations=5000, render=render)
 
     # Altered basis functions
     # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)