realistic mouse params

Author: FedeClaudi

proj/environment/plotter.py

@@ -217,14 +217,21 @@ def _plot_accelerations(self):
         )
         ax.set(xticklabels=["$\dot{v}$", "$\dot{\omega}$"], xticks=[0, 1])
 
-    def _plot_cost(self):
+    def _plot_cost(self, keep_s=1.2):
+        keep_n = int(keep_s / self.model.dt)
+
         ax = self.cost_ax
         ax.clear()
 
         for k, v in self.cost_history.items():
             if "total" not in k:
+                n = len(v)
                 ax.plot(
-                    v, label=k, lw=3, solid_capstyle="round", color=colors[k],
+                    v[n - keep_n],
+                    label=k,
+                    lw=3,
+                    solid_capstyle="round",
+                    color=colors[k],
                 )
         ax.legend()
 

proj/model/config.py

@@ -12,7 +12,7 @@ class Config:
     STATE_SIZE = 5
     INPUT_SIZE = 2
 
-    R = np.diag([1.5, 1.5])  # control cost
+    R = np.diag([0.0001, 0.0001])  # control cost
     Q = np.diag([5, 5, 1, 5, 0])  # state cost | x, y, theta, v, omega
     Sf = np.diag([0, 0, 0, 0, 0])  # final state cost
 
@@ -24,14 +24,24 @@ class Config:
     # Sf = np.diag([2.5, 2.5, 0, 0])  # final state cost
 
     # ------------------------------- 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
+    # )
 
+    # ? more realistic
     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=2,  # half body width | cm
+        R=2,  # radius of wheels | cm
+        d=3,  # 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
     )
 
     # ------------------------------ Goal trajectory ----------------------------- #