Make small updates

Author: reiniscimurs

robot_nav/sim.py

@@ -14,7 +14,7 @@ def __init__(self, world_file="robot_world.yaml", disable_plotting=False):
 
     def step(self, lin_velocity=0.0, ang_velocity=0.1):
         self.env.step(action_id=0, action=np.array([[lin_velocity], [ang_velocity]]))
-        self.env.render(interval=0.01)
+        self.env.render()
 
         scan = self.env.get_lidar_scan()
         latest_scan = scan["ranges"]

robot_nav/test.py

@@ -22,12 +22,13 @@ def main(args=None):
     epoch = 0  # epoch number
     max_steps = 300  # maximum number of steps in single episode
 
-    model = BTD3(
+    model = TD3(
         state_dim=state_dim,
         action_dim=action_dim,
         max_action=max_action,
         device=device,
         load_model=True,
+        model_name="TD3",
     )  # instantiate a model
 
     sim = SIM_ENV(world_file="eval_world.yaml")  # instantiate environment

robot_nav/test_random.py

@@ -31,7 +31,7 @@ def main(args=None):
         max_action=max_action,
         device=device,
         load_model=True,
-        model_name="BSA1Cw025exp1",
+        model_name="SAC",
     )  # instantiate a model
 
     sim = SIM_ENV(