diff --git a/flux/nn_prior/two_link_sys.jl b/flux/nn_prior/two_link_sys.jl index ce9ca9b32cad95104ce6594b9029d37ce7edef14..7a655b4278d2c96342328a973821fe098e02f4ff 100644 --- a/flux/nn_prior/two_link_sys.jl +++ b/flux/nn_prior/two_link_sys.jl @@ -24,9 +24,9 @@ function generate_data(sys::TwoLinkSys, systype, seed, validation=false; ufun=u- local x,u while !done u = ufun(randn(n,N+2)) - t = h:h:N*h+h + t = 0:h:N*h x0 = [-0.4,0,0,0] - prob = OrdinaryDiffEq.ODEProblem((x,p,t)->time_derivative(x, u[:,ceil(Int,t/h)]),x0,(t[[1,end]]...)) + prob = OrdinaryDiffEq.ODEProblem((x,p,t)->time_derivative(x, u[:,floor(Int,t/h)+1]),x0,(t[[1,end]]...)) sol = solve(prob,Tsit5(),reltol=1e-8,abstol=1e-8) x = hcat(sol(t)...) done = all(abs.(x[1:2,:]) .< 0.9π) diff --git a/jump_lin_id/figs/robot_train.tex b/jump_lin_id/figs/robot_train.tex index d0374008c91b57bf3eb955f5c1574dc0b4ecdcbb..874d131c909963782895aaf3a3b46aba334f99a8 100644 --- a/jump_lin_id/figs/robot_train.tex +++ b/jump_lin_id/figs/robot_train.tex @@ -1899,7 +1899,7 @@ mark options = { (200.0, 0.7559084700421508) }; \end{axis} -\begin{axis}[height = {\figureheight}, ylabel = {}, title = {End effector positions}, xmin = {1.0}, xmax = {200.0}, ymax = {0.9017369909373718}, xlabel = {}, unbounded coords=jump +\begin{axis}[height = {\figureheight}, ylabel = {}, title = {End-effector positions}, xmin = {1.0}, xmax = {200.0}, ymax = {0.9017369909373718}, xlabel = {}, unbounded coords=jump , scaled x ticks = false , xticklabel style={rotate = 0} , xmajorgrids = false