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update weight scaling for bbrl-prodmp tt

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hongyi.zhou 2023-04-06 15:57:39 +02:00
parent 7f38292937
commit ffa8c9bddb
1 changed files with 1 additions and 0 deletions
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fancy_gym/envs/__init__.py
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@ -583,6 +583,7 @@ for _v in _versions:
kwargs_dict_tt_prodmp['name'] = _v 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']['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['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']['auto_scale_basis'] = True
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = True kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = True
kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True