Reworked training

new reward/penalty system
learning phases with curriculum learning
new training parameters
cleanup of old code
better logging while training
multiple environments instead of robots (they could bumb into each other)

ml/SimManager.py

@@ -34,30 +34,29 @@ class SimManager:
             p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW, 0, physicsClientId=self.physics_client)
 
     def load_scene(
-        self, urdf_path: str, num_robots: int, robot_spacing: float, base_pos_fn
+        self, urdf_path: str, robot_spacing: float, base_pos_fn
     ) -> Tuple[int, List[int], List[List[int]]]:
-        """Loads plane and hexapod bodies into the simulation scene."""
+        """Loads the plane and a single hexapod body into the simulation scene."""
         plane_id = p.loadURDF("plane.urdf", physicsClientId=self.physics_client)
         robots = []
         robot_joint_indices = []
         self.robot_joints.clear()
 
-        for r_id in range(num_robots):
-            base_pos = base_pos_fn(r_id, num_robots, robot_spacing)
-            robot = p.loadURDF(
-                urdf_path, 
-                basePosition=base_pos, 
-                useFixedBase=False, 
-                physicsClientId=self.physics_client
-            )
-            robots.append(robot)
+        base_pos = base_pos_fn(0, robot_spacing)
+        robot = p.loadURDF(
+            urdf_path,
+            basePosition=base_pos,
+            useFixedBase=False,
+            physicsClientId=self.physics_client
+        )
+        robots.append(robot)
 
-            joint_indices = [
-                i for i in range(p.getNumJoints(robot, physicsClientId=self.physics_client))
-                if p.getJointInfo(robot, i, physicsClientId=self.physics_client)[2] == p.JOINT_REVOLUTE
-            ]
-            robot_joint_indices.append(joint_indices)
-            self.robot_joints[robot] = joint_indices
+        joint_indices = [
+            i for i in range(p.getNumJoints(robot, physicsClientId=self.physics_client))
+            if p.getJointInfo(robot, i, physicsClientId=self.physics_client)[2] == p.JOINT_REVOLUTE
+        ]
+        robot_joint_indices.append(joint_indices)
+        self.robot_joints[robot] = joint_indices
 
         return plane_id, robots, robot_joint_indices