02_config.md

2. Edit Configuration

We recommend you using addict or yaml to edit the configuration files.

 

2.1 Demo

We provide a demo to show how to edit the configuration.

You can call this demo as follows:

from mp_pytorch import demo
config, times, params, params_L, init_time, init_pos, init_vel, demos = \
    demo.get_mp_utils(mp_type="prodmp", learn_tau=True, learn_delay=True)

 

2.2 Parameters in Configuration

Type	Parameters	Description
General	num_dof	Number of DoFs
	tau
	learn_tau	If tau is learnable
	learn_delay	If delay is learnable
Movement Primitives	num_basis	Number of Basis functions
	basis_bandwidth_factor
	alpha
	alpha_phase
	dt	Timestep
	weights_scale
	goal_scale
	mp_type	Type of Movement Primitives

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