Current status of memory

conf/data/quanser-rand.yaml

@@ -3,15 +3,15 @@ data:
   full_or_relative: relative
   inputs:
     [
-      "state_theta",
+      "theta",
-      "state_alpha",
+      "alpha",
-      "state_theta_dot",
+      "theta_dot",
-      "state_alpha_dot",
+      "alpha_dot",
     ]
-  outputs: ["state_theta", "state_alpha", "state_theta_dot", "state_alpha_dot"]
+  outputs: ["theta", "alpha", "theta_dot", "alpha_dot"]
   augmented_cols:
     [
-      "action_Vm",
+      "Vm",
       #"config_Lp,
       #"config_mp",
       #"config_Rm",
@@ -33,6 +33,6 @@ data:
   max_rows: -1
   scale_data: True
   diff_state: False
-  concatenated_steps: 5
+  concatenated_steps: 3
   concatenated_zero_padding: True
   test_perc: 0.25

conf/simulator/quanser-log.yaml

@@ -1,6 +1,6 @@
 simulator:
-  states: ["state_theta", "state_alpha", "state_theta_dot", "state_alpha_dot"]
+  states: ["theta", "alpha", "theta_dot", "alpha_dot"]
-  actions: ["action_Vm"]
+  actions: ["Vm"]
   configs:
     [
       #"config_Lp",
@@ -30,11 +30,18 @@ simulator:
       #"config_Dr": 0.00027,
       #"config_Dp": 0.00005,
       #"config_frequency": 80,
-      'config_initial_theta': 0,
+      #'config_initial_theta': 0,
-      'config_initial_alpha': 0,
+      #'config_initial_alpha': 0,
-      'config_initial_theta_dot': 0,
+      #'config_initial_theta_dot': 0,
-      'config_initial_alpha_dot': 0
+      #'config_initial_alpha_dot': 0
-  }
+    }
+  initial_states: 
+    {
+      'theta': 0,
+      'alpha': 0,
+      'theta_dot': 0,
+      'alpha_dot': 0
+    }
   policy: bonsai
   logging: enable
   workspace_setup: False

ddm_predictor.py

@@ -112,16 +112,13 @@ class Simulator(BaseModel):
             # Edit the config keys and initial state/action keys for a custom example.
             # TODO: A generic state/action to config mapper or other generic design is 
             # under development and can replace this requirement.
-            initial_state= {
+            initial_state = {
-                      "ball_x":self.config["initial_x"],
+                      "theta":self.config["config_initial_theta"],
-                      "ball_y":self.config["initial_y"],
+                      "alpha":self.config["config_initial_alpha"],
-                      "ball_vel_x": self.config["initial_vel_x"],
+                      "theta_dot": self.config["config_initial_theta_dot"],
-                      "ball_vel_y": self.config["initial_vel_y"]
+                      "alpha_dot": self.config["config_initial_alpha_dot"]
-                      }
-            initial_action= {
-                      "input_roll": self.config["initial_roll"],
-                      "input_pitch": self.config["initial_pitch"]
                       }
+            initial_action = {k: random.random() for k in self.action_keys}
         elif not config and self.episode_inits:
             logger.info(
                 f"No episode initializations provided, using initializations in yaml `episode_inits`"