From ffa8c9bddb40e260b8f0b35eacd5a707608dbc17 Mon Sep 17 00:00:00 2001 From: "hongyi.zhou" Date: Thu, 6 Apr 2023 15:57:39 +0200 Subject: [PATCH] update weight scaling for bbrl-prodmp tt --- fancy_gym/envs/__init__.py | 1 + 1 file changed, 1 insertion(+) diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py index 7d917d7..c23e879 100644 --- a/fancy_gym/envs/__init__.py +++ b/fancy_gym/envs/__init__.py @@ -583,6 +583,7 @@ for _v in _versions: kwargs_dict_tt_prodmp['name'] = _v kwargs_dict_tt_prodmp['controller_kwargs']['p_gains'] = 0.5 * np.array([1.0, 4.0, 2.0, 4.0, 1.0, 4.0, 1.0]) 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'] = 0.7 kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = True kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True