[app]

app/app.py

@@ -33,15 +33,15 @@ rule_vocabul, node_features = rule_extention.init_extension_rules()
 # %% Create condig optimizing control
 
 GAIT = 2.5
-WEIGHT = [5, 0, 1, 9]
+WEIGHT = [3, 1, 1, 2]
 
 cfg = ConfigRewardFunction()
-cfg.bound = (0, 10)
-cfg.iters = 2
+cfg.bound = (2, 10)
+cfg.iters = 5
 cfg.sim_config = {"Set_G_acc": chrono.ChVectorD(0, 0, 0)}
-cfg.time_step = 0.001
-cfg.time_sim = 3
-cfg.flags = [FlagMaxTime(3), FlagNotContact(1), FlagSlipout(1, 0.25)]
+cfg.time_step = 0.005
+cfg.time_sim = 2
+cfg.flags = [FlagMaxTime(2), FlagNotContact(1), FlagSlipout(0.5, 0.5)]
 """Wraps function call"""
 
 criterion_callback = create_grab_criterion_fun(node_features, GAIT, WEIGHT)