bugfix

Author: FedeClaudi

proj/environment/plotter.py

@@ -226,12 +226,13 @@ def _plot_cost(self, keep_s=1.2):
         for k, v in self.cost_history.items():
             if "total" not in k:
                 n = len(v)
+                if n > keep_n + 2:
+                    x = v[n - keep_n]
+                else:
+                    x = v.copy()
+
                 ax.plot(
-                    v[n - keep_n],
-                    label=k,
-                    lw=3,
-                    solid_capstyle="round",
-                    color=colors[k],
+                    x, label=k, lw=3, solid_capstyle="round", color=colors[k],
                 )
         ax.legend()
 

proj/model/config.py

@@ -26,12 +26,12 @@ class Config:
     # ------------------------------- Mouse params ------------------------------- #
     # ? works
     # mouse = dict(
-    #     L=1.5,  # half body width | cm
-    #     R=1,  # radius of wheels | cm
-    #     d=0.1,  # distance between axel and CoM | cm
-    #     length=3,  # cm
-    #     m=round(20 / 9.81, 2),  # mass | g
-    #     m_w=round(2 / 9.81, 2),  # mass of wheels/legs |g
+    #     L = 1.5,  # half body width | cm
+    #     R = 1,  # radius of wheels | cm
+    #     d = 0.1,  # distance between axel and CoM | cm
+    #     length = 3,  # cm
+    #     m = round(20 / 9.81, 2),  # mass | g
+    #     m_w = round(2 / 9.81, 2),  # mass of wheels/legs |g
     # )
 
     # ? more realistic
@@ -52,7 +52,7 @@ class Config:
         distance=150,
         max_speed=100,
         min_speed=80,
-        min_dist=100,  # if agent is within this distance from trajectory end the goal is considered achieved
+        min_dist=5,  # if agent is within this distance from trajectory end the goal is considered achieved
         dist_th=300,  # keep frames only after moved away from start location
         resample=True,  # if True when using tracking trajectory resamples it
         max_deg_interpol=8,  # if using track fit a N degree polynomial to daa to smoothen