Fixed some indentation issues and leftover from porting. Compiles and potentially runs now.

1 files changed, 12 insertions, 12 deletions

diff --git a/System_Python/system_swingup_test.py b/System_Python/system_swingup_test.py
index 1b30c41..e4d3a72 100644
--- a/System_Python/system_swingup_test.py
+++ b/System_Python/system_swingup_test.py
@@ -82,8 +82,8 @@ class SwingUpEnv():
         state = self.state

         x, x_dot, theta, theta_dot = state

         force = self.force_mag * action[0]

-		self.sys.adjust(force)

-		

+        self.sys.adjust(force)

+

         costheta = math.cos(theta)

         sintheta = math.sin(theta)

 

@@ -94,12 +94,12 @@ class SwingUpEnv():
         else:

             self.up_time = 0

         

-		new_theta, new_x = self.sys.measure()

-		new_theta = radians(new_theta)

-		theta_dot = (new_theta - theta) / self.tau

+        new_theta, new_x = self.sys.measure()

+        new_theta = radians(new_theta)

+        theta_dot = (new_theta - theta) / self.tau

         x_dot = (new_x - x) / self.tau

-		self.state = (new_x, x_dot, new_theta, theta_dot)

-		

+        self.state = (new_x, x_dot, new_theta, theta_dot)

+

         done =  x < -self.x_threshold \

                 or x > self.x_threshold \

                 or theta_dot < -self.theta_dot_threshold \

@@ -121,10 +121,10 @@ class SwingUpEnv():
         return np.array(self.state), reward, done, {'max_up_time' : self.max_up_time}

 

     def reset(self):

-		self.sys.return_home()

-		time.sleep(1)

-		self.state = (0, 0, np.pi, 0)

-		

+        self.sys.return_home()

+        time.sleep(1)

+        self.state = (0, 0, np.pi, 0)

+

         self.up_time = 0

         self.max_up_time = 0

         self.up = False

@@ -219,7 +219,7 @@ class sarsaAgent:
             self.r_last = np.copy(r)

 

 # This is the environment

-env = swingUp.SwingUpEnv()

+env = SwingUpEnv()

 

 # For simplicity, we only consider forces of -1 and 1

 numActions = 2