add invalid trajectory callback & invalid traj return & register all 3 variantes of table tennis tasks

fancy_gym/examples/examples_movement_primitives.py

@@ -155,7 +155,7 @@ 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)
 
@@ -163,10 +163,15 @@ if __name__ == '__main__':
     # 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=20, render=render)
+    # example_mp("TableTennisWindProMP-v0", seed=10, iterations=20, render=render)
+    # example_mp("TableTennisGoalSwitchingProMP-v0", seed=10, iterations=20, render=render)
 
     # ProDMP
     # example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
-    example_mp("TableTennis4DProDMP-v0", seed=10, iterations=20, render=render)
+    example_mp("TableTennis4DProDMP-v0", seed=10, iterations=2000, render=render)
+    # example_mp("TableTennisWindProDMP-v0", seed=10, iterations=20, render=render)
+    # example_mp("TableTennisGoalSwitchingProDMP-v0", seed=10, iterations=20, render=render)
+
     # Altered basis functions
     # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)