Corrected wrong log, equal pos and vel

carlo98 · Dec 17, 2021 · b43deee · b43deee
1 parent cfce12b
commit b43deee
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/shared/Log Analysis.ipynb b/shared/Log Analysis.ipynb
@@ -177,8 +177,6 @@
     "    with open(folder_path + \"/\" + file, \"rb\") as file_pkl:\n",
     "        data = pickle.load(file_pkl)\n",
     "    if len(data[1]) == 2 and np.abs(data[0]['z'][-1]) < 0.15:  # Threshold height, otherwise not landed (vz not trained)\n",
-    "        file_list.append(file)\n",
-    "    elif len(data[1]) == 3 and np.abs(data[0]['z'][-1]) < 0.50:  # Threshold height, otherwise not landed (vz trained)\n",
     "        file_list.append(file)"
    ]
   },
@@ -266,7 +264,7 @@
    "outputs": [],
    "source": [
     "ax = velocities.plot(title=\"Velocity/Time\", figsize=(10, 4));\n",
-    "plt.ylim(-1, 1);\n",
+    "plt.ylim(-2, 2);\n",
     "plt.xlim(0, len(velocities)+1);\n",
     "plt.grid();\n",
     "ax.set_xlabel(\"Time (s)\");\n",

diff --git a/shared/ros_packages/px4_ros_extended/src_py/test_ddpg_agent.py b/shared/ros_packages/px4_ros_extended/src_py/test_ddpg_agent.py
@@ -78,12 +78,12 @@ def run(self):
             with torch.no_grad():
                 action = self.ddpg.get_exploitation_action(normalized_input)
 
-            log_velocities['vx'].append(inputs[0]*self.info_dict['max_vel_xy'])
-            log_velocities['vy'].append(inputs[1]*self.info_dict['max_vel_xy'])
+            log_velocities['vx'].append(inputs[3]*self.info_dict['max_vel_xy'])
+            log_velocities['vy'].append(inputs[4]*self.info_dict['max_vel_xy'])
             log_velocities_ref['vx'].append(action[0]*self.info_dict['max_vel_xy'])
             log_velocities_ref['vy'].append(action[1]*self.info_dict['max_vel_xy'])
             if self.act_shape == 3:  # Predicting also vz
-                log_velocities['vz'].append(inputs[2]*self.info_dict['max_vel_z'])
+                log_velocities['vz'].append(inputs[5]*self.info_dict['max_vel_z'])
                 log_velocities_ref['vz'].append(action[2]*self.info_dict['max_vel_z'])
 
             inputs, reward, done = self.env.act(action, self.normalize_input)