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-rw-r--r--[-rwxr-xr-x]System/swingUp.py16
1 files changed, 8 insertions, 8 deletions
diff --git a/System/swingUp.py b/System/swingUp.py
index f14ef37..fb5d4c0 100755..100644
--- a/System/swingUp.py
+++ b/System/swingUp.py
@@ -20,16 +20,16 @@ class SwingUpEnv(gym.Env):
Observation:
Type: Box(4)
- Num Observation Min Max
- 0 Cart Position -4.8 4.8
- 1 Cart Velocity -Inf Inf
- 2 Pole Angle -Inf Inf
- 3 Pole Velocity At Tip -Inf Inf
+ Num Observation Min Max
+ 0 Cart Position -4.8 4.8
+ 1 Cart Velocity -Inf Inf
+ 2 Pole Angle -Inf Inf
+ 3 Pole Velocity At Tip -Inf Inf
Actions:
Type: Box(1)
- Num Action Min Max
- 0 Push cart -1 1
+ Num Action Min Max
+ 0 Push cart -1 1
Note: The amount the velocity that is reduced or increased is not fixed; it depends on the angle the pole is pointing. This is because the center of gravity of the pole increases the amount of energy needed to move the cart underneath it
@@ -94,7 +94,7 @@ class SwingUpEnv(gym.Env):
state = self.state
x, x_dot, theta, theta_dot = state
force = self.force_mag * action[0]
-
+
costheta = math.cos(theta)
sintheta = math.sin(theta)