bump

Author: FedeClaudi

proj/environment/environment.py

@@ -104,10 +104,12 @@ def plan(self, curr_x, g_traj, itern):
         if start + pred_len > len(g_traj):
             end = len(g_traj) - 2
 
-        # if abs(start - end) != pred_len:
-        #     return np.tile(g_traj[-1], (pred_len, 1))
-
-        return g_traj[start:end]
+        if abs(start - end) != pred_len:
+            g_traj = g_traj[start:end]
+            len_diff = (start - end) - pred_len
+            return np.pad(g_traj, ((0, len_diff), (0, 0)), mode="edge")
+        else:
+            return g_traj[start:end]
 
     def isdone(self, curr_x, trajectory):
         """

proj/environment/manager.py

@@ -66,7 +66,7 @@ def _start_logging(self):
         # Start logging
         fancylog.start_logging(
             output_dir=str(self.datafolder),
-            filename=self.exp_name + ".txt",
+            filename=self.exp_name + ".log",
             multiprocessing_aware=False,
             write_git=False,
             verbose=False,
@@ -87,7 +87,7 @@ def _log_conf(self):
         # log config.py
         try:
             with open("proj/model/config.py") as f:
-                conf = f.read()
+                conf = "\n" + f.read()
         except FileNotFoundError:
             conf = self.model.config_dict()
         logging.info(conf)

proj/model/config.py

@@ -33,22 +33,26 @@
 
 _realistic_mouse = dict(
     L=2,  # half body width | cm
-    R=2,  # radius of wheels | cm
-    d=3,  # distance between axel and CoM | cm
+    R=1.5,  # radius of wheels | cm
+    d=2,  # distance between axel and CoM | cm
     length=8.6,  # cm
-    m=round(25 / 9.81, 2),  # mass | g
-    m_w=round(0.6 / 9.81, 2),  # mass of wheels/legs |g
+    m=round(23 / 9.81, 2),  # mass | g
+    m_w=0.8,  # mass of wheels/legs |g
     mouse_type="realistic",
 )
 
+# ---------------------------------------------------------------------------- #
+#                                    CONFIG                                    #
+# ---------------------------------------------------------------------------- #
+
 
 class Config:
     # ----------------------------- Simulation params ---------------------------- #
     SIMULATION_NAME = ""
 
     USE_FAST = True  # if true use cumba's methods
     SPAWN_TYPE = "trajectory"
-    LIVE_PLOT = True
+    LIVE_PLOT = False
 
     mouse_type = "easy"
     model_type = "cart"
@@ -72,7 +76,7 @@ class Config:
 
     # ------------------------------ Planning params ----------------------------- #
     planning = dict(  # params used to compute goal states to be used for control
-        prediction_length=80,
+        prediction_length=20,
         n_ahead=5,  # start prediction states from N steps ahead
     )