From 75c4405d5c42896cd6b4c83642519c25637c7e8b Mon Sep 17 00:00:00 2001 From: Dominik Roth Date: Fri, 28 Jun 2024 12:11:17 +0200 Subject: [PATCH] Tuning params for Pos/Dir envs --- mujoco_maze/dir_point.py | 4 ++-- mujoco_maze/pos_point.py | 7 +++++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/mujoco_maze/dir_point.py b/mujoco_maze/dir_point.py index 1ff2ba2..9a3b0d1 100644 --- a/mujoco_maze/dir_point.py +++ b/mujoco_maze/dir_point.py @@ -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 diff --git a/mujoco_maze/pos_point.py b/mujoco_maze/pos_point.py index 06468d6..50ff389 100644 --- a/mujoco_maze/pos_point.py +++ b/mujoco_maze/pos_point.py @@ -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]