holereach025

2021-04-10 13:25:08 +02:00
parent 1fd44616bf
commit f6cef69225
4 changed files with 30 additions and 22 deletions
@@ -14,8 +14,9 @@ class DmpEnvWrapper(gym.Wrapper):
                 start_pos=None,
                 final_pos=None,
                 duration=1,
-                 alpha_phase=2,
                 dt=0.01,
+                 alpha_phase=2,
+                 bandwidth_factor=3,
                 learn_goal=False,
                 post_traj_time=0.,
                 policy_type=None,
@@ -35,7 +36,10 @@ class DmpEnvWrapper(gym.Wrapper):
        self.post_traj_steps = int(post_traj_time / dt)

        phase_generator = ExpDecayPhaseGenerator(alpha_phase=alpha_phase, duration=duration)
-        basis_generator = DMPBasisGenerator(phase_generator, duration=duration, num_basis=self.num_basis)
+        basis_generator = DMPBasisGenerator(phase_generator,
+                                            duration=duration,
+                                            num_basis=self.num_basis,
+                                            basis_bandwidth_factor=bandwidth_factor)

        self.dmp = dmps.DMP(num_dof=num_dof,
                            basis_generator=basis_generator,