Commit 51976292 authored by mlutter's avatar mlutter
Browse files

renaming stuff

parent 81ec4097
......@@ -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
......
......@@ -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__":
......
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