A REAL PROGRESS

2024-08-18 22:50:50 +08:00
parent c6f607dd8d
commit fb1efcd441
6 changed files with 165 additions and 85 deletions
@@ -120,7 +120,7 @@ class CustomEnv(gym.Env):
            # barrier.wait()
            self.fifo_states.append(self.flow_field.obs.copy()[2:14])

-        def calc_reward():
+        def proc_data():
            states = np.array(self.fifo_states)
            forces = states[-1, 6:12] / self.force_norm_fact
            cd = (forces[0] + forces[2] + forces[4]) / 3
@@ -179,7 +179,7 @@ class CustomEnv(gym.Env):
            result_queue.put((np.hstack([forces, sens]), reward))

        run_flow_field(action)
-        calc_reward()
+        proc_data()
        observation, reward = result_queue.get()

        truncated = bool(np.any(observation > 1) or np.any(observation < -1))