VictorMylle/RL-Sim-Framework
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♻️ full agent refactor

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Victor Mylle
2026-06-10 21:15:34 +02:00
parent a98e86ef66
commit 1e0836e1bc
49 changed files with 1309 additions and 829 deletions
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11
scripts/viz.py
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@@ -2,7 +2,7 @@
Usage (simulation):
mjpython scripts/viz.py env=rotary_cartpole
mjpython scripts/viz.py env=cartpole +com=true
mjpython scripts/viz.py env=rotary_cartpole +com=true
Usage (real hardware — digital twin):
mjpython scripts/viz.py env=rotary_cartpole runner=serial
@@ -104,7 +104,7 @@ def _add_action_arrow(viewer, model, data, action_val: float) -> None:
@hydra.main(version_base=None, config_path="../configs", config_name="config")
def main(cfg: DictConfig) -> None:
choices = HydraConfig.get().runtime.choices
env_name = choices.get("env", "cartpole")
env_name = choices.get("env", "rotary_cartpole")
runner_name = choices.get("runner", "mujoco")
if runner_name == "serial":
@@ -229,11 +229,12 @@ def _main_serial(cfg: DictConfig, env_name: str) -> None:
_reset_flag[0] = False
serial_runner._send("M0")
serial_runner._drive_to_center()
serial_runner._wait_for_pendulum_still()
serial_runner._wait_for_settle()
logger.info("reset (drive-to-center + settle)")
# Send motor command to real hardware.
motor_speed = int(np.clip(action_val, -1.0, 1.0) * 255)
# Send motor command to real hardware (same PWM scaling as
# the policy path: ctrl_range-limited).
motor_speed = int(np.clip(action_val, -1.0, 1.0) * serial_runner._max_pwm)
serial_runner._send(f"M{motor_speed}")
# Sync MuJoCo model with real sensor data.