From f47f00a292fe4851934cb53bdfd29b8431d62971 Mon Sep 17 00:00:00 2001 From: Hongyi Zhou Date: Wed, 23 Nov 2022 17:02:04 +0100 Subject: [PATCH] updates && disable auto_scale_basis for table tennis --- fancy_gym/envs/__init__.py | 2 +- fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py index ef52785..b3ba3aa 100644 --- a/fancy_gym/envs/__init__.py +++ b/fancy_gym/envs/__init__.py @@ -569,7 +569,7 @@ for _v in _versions: kwargs_dict_tt_prodmp['controller_kwargs']['d_gains'] = 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1]) kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['weights_scale'] = 1.0 kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['goal_scale'] = 1.0 - kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True + kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = False kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0 kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_tau'] = True kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_delay'] = True diff --git a/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py b/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py index 9b2359a..72b92e0 100644 --- a/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py +++ b/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py @@ -151,8 +151,8 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle): def reset_model(self): self._steps = 0 - self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False) - self._goal_pos = self._generate_goal_pos(random=True) + self._init_ball_state = self._generate_valid_init_ball(random_pos=False, random_vel=False) + self._goal_pos = self._generate_goal_pos(random=False) self.data.joint("tar_x").qpos = self._init_ball_state[0] self.data.joint("tar_y").qpos = self._init_ball_state[1] self.data.joint("tar_z").qpos = self._init_ball_state[2]