piymav na bug

aimclub · Nov 1, 2023 · 0382ba3 · 0382ba3
1 parent 64c4bb4
commit 0382ba3
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/app/hyperparameters.py b/app/hyperparameters.py
@@ -22,7 +22,7 @@
 TENDON_CONST = -5
 TENDON_DISCRETE_FORCES = [10, 15, 20]
 
-TIME_STEP_SIMULATION = 0.0001
+TIME_STEP_SIMULATION = 0.001
 GRASP_TIME = 5
 FORCE_TEST_TIME = 5
 TIME_SIMULATION = 10

diff --git a/app/mcts_run_setup.py b/app/mcts_run_setup.py
@@ -136,7 +136,7 @@ def config_tendon(grasp_object_blueprint):
         hp.FINAL_POSITION_CRITERION_WEIGHT)
     tendon_controller_cfg = get_tendon_cfg()
     tendon_optivar = TendonForceOptiVar(tendon_controller_cfg, simulation_rewarder, -45)
-    tendon_optivar.is_vis = True
+    tendon_optivar.is_vis = False
     brute_tendon = BruteForceOptimisation1D(hp.TENDON_DISCRETE_FORCES, [simulation_manager],
                                             tendon_optivar,
                                             num_cpu_workers=1)

diff --git a/app/one_graph_simulation.py b/app/one_graph_simulation.py
@@ -2,7 +2,7 @@
 
 from rostok.library.obj_grasp.objects import get_object_sphere
 from rostok.library.rule_sets.simple_designs import (
-    get_three_link_one_finger, get_three_link_one_finger_independent)
+    get_three_link_one_finger, get_three_link_one_finger_independent, get_two_link_three_finger, )
 
 # create blueprint for object to grasp
 grasp_object_blueprint = get_object_sphere(0.05)
@@ -13,6 +13,7 @@
 control_optimizer = config_tendon(grasp_object_blueprint)
 
 graph = get_three_link_one_finger_independent()
-graph = get_three_link_one_finger()
+graph = graph = get_two_link_three_finger() 
 
-control_optimizer.calculate_reward(graph)
+rewsss = control_optimizer.calculate_reward(graph)
+pass