tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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chore: min/max of inputs

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Tibo De Peuter 2026-04-28 17:38:02 +02:00
parent 49f5874035
commit 2a34b84f83
Signed by: tdpeuter
SSH key fingerprint: SHA256:u/h/LVoqKF1Iz02uOyxe6hcjmoZASCGV2HM0TG9ZMoU
2 changed files with 147 additions and 4 deletions
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13
src/brittle_star_project/environment/env_config.py
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@ -66,10 +66,15 @@ class EnvConfig:
class ObservationBoundsConfig:
"""Physical observation bounds for deterministic min-max normalization."""
# TODO Inspect empirically observed ranges and update these bounds as needed.
joint_position: list[float] = field(default_factory=lambda: [-3.14, 3.14])
joint_velocity: list[float] = field(default_factory=lambda: [-20.0, 20.0])
joint_actuator_force: list[float] = field(default_factory=lambda: [-5.0, 5.0])
# Empirical testing based on the extract_observation_bounds.py script run for 1.000.000 steps
# Based on max. ctrlrange (0.78539816339744828) in XML, but empirical testing went slightly over
joint_position: list[float] = field(default_factory=lambda: [-0.8, 0.8])
# Empirical testing showed max. 3.22, adding buffer to be safe
joint_velocity: list[float] = field(default_factory=lambda: [-5.0, 5.0])
# Based on max. forceRange in XML, verified with empirical testing
joint_actuator_force: list[float] = field(default_factory=lambda: [-3.75, 3.75])
# Based on intuition and reasoning
segment_contact: list[float] = field(default_factory=lambda: [0.0, 1.0])
unit_xy_direction_to_target: list[float] = field(default_factory=lambda: [-1.0, 1.0])
disk_z_tilt: list[float] = field(default_factory=lambda: [0.0, 3.141592653589793])