Sim Library Improvements #116
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alik-git
commented
Nov 20, 2024
alik-git
commented
- add an cmd line arg for the h5 file output dir
| @@ -6,22 +6,31 @@ | |||
| import h5py | |||
| import matplotlib.pyplot as plt | |||
| import numpy as np | |||
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add the logic to the sim/produce_sim_data to use it as well
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addressed in 6a65d01
sim/sim2sim.py
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| @@ -252,6 +252,7 @@ def run_mujoco( | |||
| "joint_pos": cur_pos_obs.astype(np.float32), | |||
| "joint_vel": cur_vel_obs.astype(np.float32), | |||
| "prev_actions": actions.astype(np.float32), | |||
| "curr_actions": target_q.astype(np.float32), | |||
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current actions are actions listed below
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addressed in df09d0d
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This is wrong, you are now saving latest actions and positions (target_q which are scaled actions).
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okay should be fixed in 0eb70d3
i renamed actions to prev_actions since that is what it is being used as, and use curr_actions for the output of the model. at the end of the inner loop iteration, I set prev_actions = curr_actions.
budzianowski
approved these changes
Nov 21, 2024
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