fixes

Author: FedeClaudi

proj/environment/plotter.py

@@ -244,15 +244,13 @@ def _plot_goal(self, goal):
         x = self.model.curr_x
 
         for n, k in enumerate(x._fields):
-            self.goal_ax.bar(n, goal._asdict()[k], color=colors[k], alpha=0.7)
-            self.goal_ax.scatter(
+            self.goal_ax.bar(
                 n,
-                x._asdict()[k],
+                goal._asdict()[k] - x._asdict()[k],
                 color=desaturate_color(colors[k]),
-                s=200,
                 zorder=99,
                 lw=1,
-                edgecolors="white",
+                ec="k",
                 label=k,
             )
 

proj/model/config.py

@@ -6,7 +6,7 @@
     INPUT_SIZE=2,
     ANGLE_IDX=2,  # state vector index which is angle, used to fit diff in
     R=np.diag([1.0e-06, 1.0e-06]),  # control cost
-    Q=np.diag([10, 10, 10, 10, 0]),  # state cost | x, y, theta, v, omega
+    Q=np.diag([10, 10, 10, 3, 0]),  # state cost | x, y, theta, v, omega
     Sf=np.diag([0, 0, 0, 0, 0]),  # final state cost
 )
 

proj/plotting/results.py

@@ -134,8 +134,8 @@ def _plot_cost(cost_history, ax=None):
     ax.legend()
 
 
-def _plot_integrals(history, tax=None, aax=None):
-    R, L = history["tau_r"], history["tau_l"]
+def _plot_integrals(history, dt, tax=None, aax=None):
+    R, L = np.cumsum(history["tau_r"]), np.cumsum(history["tau_l"])
 
     plot_line_outlined(
         tax,
@@ -198,7 +198,7 @@ def plot_results(results_folder, plot_every=20, save_path=None):
     _plot_v(history, trajectory, plot_every, ax=sax)
     _plot_accel(history, ax=accel_ax)
     _plot_cost(cost_history, ax=cost_ax)
-    _plot_integrals(history, tax=tau_int_ax, aax=acc_int_ax)
+    _plot_integrals(history, config["dt"], tax=tau_int_ax, aax=acc_int_ax)
 
     clean_axes(f)