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Consistent quotation marks

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This commit is contained in:
Dominik Moritz Roth 2023-07-23 15:26:11 +02:00
parent 3a9143fd93
commit edd8c75ed3
1 changed files with 30 additions and 30 deletions
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60
fancy_gym/envs/registry.py
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@ -35,69 +35,69 @@ class DefaultMPWrapper(RawInterfaceWrapper):
_BB_DEFAULTS = {
'ProMP': {
"wrappers": [],
"trajectory_generator_kwargs": {
'wrappers': [],
'trajectory_generator_kwargs': {
'trajectory_generator_type': 'promp'
},
"phase_generator_kwargs": {
'phase_generator_kwargs': {
'phase_generator_type': 'linear'
},
"controller_kwargs": {
'controller_kwargs': {
'controller_type': 'motor',
"p_gains": 1.0,
"d_gains": 0.1,
'p_gains': 1.0,
'd_gains': 0.1,
},
"basis_generator_kwargs": {
'basis_generator_kwargs': {
'basis_generator_type': 'zero_rbf',
'num_basis': 5,
'num_basis_zero_start': 1,
'basis_bandwidth_factor': 3.0,
},
"black_box_kwargs": {
'black_box_kwargs': {
}
},
'DMP': {
"wrappers": [],
"trajectory_generator_kwargs": {
'wrappers': [],
'trajectory_generator_kwargs': {
'trajectory_generator_type': 'dmp'
},
"phase_generator_kwargs": {
'phase_generator_kwargs': {
'phase_generator_type': 'exp'
},
"controller_kwargs": {
'controller_kwargs': {
'controller_type': 'motor',
"p_gains": 1.0,
"d_gains": 0.1,
'p_gains': 1.0,
'd_gains': 0.1,
},
"basis_generator_kwargs": {
'basis_generator_kwargs': {
'basis_generator_type': 'rbf',
'num_basis': 5
},
"black_box_kwargs": {
'black_box_kwargs': {
}
},
'ProDMP': {
"wrappers": [],
"trajectory_generator_kwargs": {
'wrappers': [],
'trajectory_generator_kwargs': {
'trajectory_generator_type': 'prodmp',
'duration': 2.0,
'weights_scale': 1.0,
},
"phase_generator_kwargs": {
'phase_generator_kwargs': {
'phase_generator_type': 'exp',
'tau': 1.5,
},
"controller_kwargs": {
'controller_kwargs': {
'controller_type': 'motor',
"p_gains": 1.0,
"d_gains": 0.1,
'p_gains': 1.0,
'd_gains': 0.1,
},
"basis_generator_kwargs": {
'basis_generator_kwargs': {
'basis_generator_type': 'prodmp',
'alpha': 10,
'num_basis': 5,
},
"black_box_kwargs": {
'black_box_kwargs': {
}
}
}
@ -116,7 +116,7 @@ def register(
**kwargs
):
if not callable(mp_wrapper): # mp_wrapper can be given as a String (same notation as for entry_point)
mod_name, attr_name = mp_wrapper.split(":")
mod_name, attr_name = mp_wrapper.split(':')
mod = importlib.import_module(mod_name)
mp_wrapper = getattr(mod, attr_name)
if register_step_based:
@ -162,13 +162,13 @@ def bb_env_constructor(underlying_id, mp_wrapper, mp_type, mp_config_override={}
nested_update(config, _mp_config_override_register)
nested_update(config, mp_config_override)
wrappers = config.pop("wrappers")
wrappers = config.pop('wrappers')
traj_gen_kwargs = config.pop("trajectory_generator_kwargs", {})
traj_gen_kwargs = config.pop('trajectory_generator_kwargs', {})
black_box_kwargs = config.pop('black_box_kwargs', {})
contr_kwargs = config.pop("controller_kwargs", {})
phase_kwargs = config.pop("phase_generator_kwargs", {})
basis_kwargs = config.pop("basis_generator_kwargs", {})
contr_kwargs = config.pop('controller_kwargs', {})
phase_kwargs = config.pop('phase_generator_kwargs', {})
basis_kwargs = config.pop('basis_generator_kwargs', {})
return make_bb(underlying_env,
wrappers=wrappers,