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Iris droidology patch 1 -> #12 #11 #10 #13

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Iris droidology patch 1 -> #12 #11 #10 #13

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625eb4b
Update mars_full_sim.launch - remove need for gazebo @wakeuplearn #10
Gizmotronn Mar 10, 2020
1615b4c
Update mars_env.py
Gizmotronn Mar 10, 2020
bd5ea94
#13
Gizmotronn Mar 10, 2020
0b7363e
#13 - waypoints only
Gizmotronn Mar 10, 2020
f0d27db
Merge pull request #14 from EXYNOS-999/IrisDroidology-patch-2-waypoin…
Gizmotronn Mar 12, 2020
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3 changes: 2 additions & 1 deletion simulation_ws/src/mars/launch/mars_full_sim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)" />
gui = false
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
Expand All @@ -21,4 +22,4 @@

<include file="$(find mars)/launch/rover_mars.launch"/>
<node name="agent" pkg="mars" type="run_local_rl_agent.sh" output="screen" required="true"/>
</launch>
</launch>
3 changes: 1 addition & 2 deletions simulation_ws/src/rl-agent/markov/environments/mars_env.py
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Expand Up @@ -484,8 +484,7 @@ def reward_function(self):
"""
progress = INITIAL_DISTANCE_TO_CHECKPOINT / self.current_distance_to_checkpoint

if progress >=1.3 and progress <1.7:
# Determine if Rover already received one time reward for reaching this waypoint
if progress >=1.3 and progress <1.7: # Determine if Rover already received one time reward for reaching this waypoint
if not self.reached_waypoint_1:
self.reached_waypoint_1 = True
print("Congratulations! The rover has reached waypoint 1!")
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