renaming stuff

quanser_robots/cartpole/ctrl.py

@@ -103,12 +103,9 @@ class SwingUpCtrl:
         else:
 
             # Simulation:
-            self.k_p = 8.5                                                  # Standard Value: 08.5
-            self.k_e = mu                                                   # Standard Value: 21.5
-            self.K_pd = np.array([41.833, -173.4362, 46.1359, -16.2679])      # Standard Value: [41.8, 173.4, 46.1, 16.2]
-
-            # Real System:
-            # self.K = np.array([-41.833, +170.4362, -46.1359, +16.2679])
+            self.k_p = 8.5                                              # Standard Value: 08.5
+            self.k_e = mu                                               # Standard Value: 21.5
+            self.K_pd = np.array([+41.83, -173.44, +46.14, -16.27])     # Standard Value: [+41.8, -173.4, +46.1, -16.2]
 
     def __call__(self, state):
         x, sin_theta, cos_theta, x_dot, theta_dot = state

quanser_robots/cartpole/examples/swingup.py

@@ -158,7 +158,7 @@ def main():
         # time.sleep(3.)
 
     env.close()
-    np.savez("saved_data.npz", s=state_array, a=action_array)
+    # np.savez("saved_data.npz", s=state_array, a=action_array)
 
 
 if __name__ == "__main__":