From c60d1542380f10e81fe3eb56a25366a87ec83691 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Tue, 21 Jan 2025 11:39:25 -0600
Subject: [PATCH] The advance function should do the state update, not the run
function
---
guided_mrmp/simulator.py | 20 +++++++-------------
1 file changed, 7 insertions(+), 13 deletions(-)
diff --git a/guided_mrmp/simulator.py b/guided_mrmp/simulator.py
index 830b72b..f71c33f 100644
--- a/guided_mrmp/simulator.py
+++ b/guided_mrmp/simulator.py
@@ -50,15 +50,15 @@ class Simulator:
# Get the controls from the policy
x_mpc, controls = self.policy.advance(self.state, show_plots=self.settings['simulator']['show_collision_resolution'])
- # # Update the state of each robot
- # for i in range(self.num_robots):
- # new_state = self.dynamics_models[i].next_state(self.state[i], controls[i], dt)
- # self.robots[i].current_position = new_state
- # self.state[i] = new_state
+ # Update the state of each robot
+ next_states = []
+ for i in range(self.num_robots):
+ next_states.append(self.policy.dynamics.next_state(self.state[i], controls[i], self.policy.DT))
+
+ self.state = next_states
# Update the time
self.time += dt
- return x_mpc, controls
def run(self, show_plots=False):
"""
@@ -90,13 +90,7 @@ class Simulator:
if show_plots: self.plot_current_world_state()
# get the next control for all robots
- x_mpc, controls = self.advance(self.state, self.policy.DT)
-
- next_states = []
- for i in range(self.num_robots):
- next_states.append(self.policy.dynamics.next_state(self.state[i], controls[i], self.policy.DT))
-
- self.state = next_states
+ self.advance(self.state, self.policy.DT)
self.state = np.array(self.state)
for i in range(self.num_robots):
--
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