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Tuning params for Pos/Dir envs

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This commit is contained in:
Dominik Moritz Roth 2024-06-28 12:11:17 +02:00
parent 3864909174
commit 75c4405d5c
2 changed files with 7 additions and 4 deletions
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4
mujoco_maze/dir_point.py
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@ -21,8 +21,8 @@ class DirPointEnv(AgentModel):
MANUAL_COLLISION: bool = True
RADIUS: float = 0.4
OBJBALL_TYPE: str = "hinge"
VELOCITY_LIMITS: float = 0.333
ACCELERATION_LIMITS: float = 0.1
VELOCITY_LIMITS: float = 0.15
ACCELERATION_LIMITS: float = 0.005
def __init__(self, file_path: Optional[str] = None, maze_env=None) -> None:
self.maze_env = maze_env

7
mujoco_maze/pos_point.py
View File

@ -21,8 +21,8 @@ class PosPointEnv(AgentModel):
MANUAL_COLLISION: bool = True
RADIUS: float = 0.4
OBJBALL_TYPE: str = "hinge"
VELOCITY_LIMITS: float = 0.333
ACCELERATION_LIMITS: float = 0.1
VELOCITY_LIMITS: float = 0.15
ACCELERATION_LIMITS: float = 0.005
def __init__(self, file_path: Optional[str] = None, maze_env=None) -> None:
self.maze_env = maze_env
@ -42,6 +42,9 @@ class PosPointEnv(AgentModel):
# Scale the action to the maze size
self.target_pos = (action + 0.5)/1.9 * maze_size
print('ooo')
self.data.qvel[:2]*=0.95
# Get current position and velocity
current_pos = self.get_xy()
current_vel = self.data.qvel[:2]