Adjust excavator timing parameters for realistic torque requirements in ML training

[Copilot]

The evaluation interval (0.5s) and digging cycle duration (7s) were too aggressive, causing ML agents to learn torque patterns exceeding realistic excavator hydraulic capabilities.

Changes

• Evaluation interval: 0.5s → 2.0s (SCORE_CONFIG.check_interval)

  • Matches realistic inspection/evaluation cycles during excavator operation

• Digging cycle timing: 7s → 15s total duration

  • Arm/stick/bucket operations extended 2x across all phases
  • Allows hydraulic actuators to operate within physical constraints

• Force/torque documentation: Added context for LOCK_FORCE_RANGE (±1.0e6)

  • Notes ML training considerations for realistic torque learning

# Before: Aggressive timing requiring high torque
[start_time + 2, {"arm": arm_height - 0.2}],
[start_time + 6, {"arm": arm_height + 0.5}],

# After: Realistic timing for hydraulic capabilities  
[start_time + 4, {"arm": arm_height - 0.2}],
[start_time + 12, {"arm": arm_height + 0.5}],

Files

• test1.agxPy, test3.agxPy: Evaluation interval, digging timing, force documentation
• test2.agxPy: Digging timing only
• texts/012_adjust_evaluation_timing.txt: Detailed change documentation
• .gitignore: Exclude Python cache artifacts

Original prompt

今二秒間隔で評価してるけど、実際のショベルカーってもう少し長い間隔で動かしているとおもう、
この感じだと学習うまくいってもげん実のトルクよりも大きいトルクが与えられる結果になったりすると思うんだけどどうかな？
もし修正するべき部分があれば教えてほしい

Summary of Conversation History

User Goals

The user is working on a simulation project involving an excavator, utilizing AGX Dynamics and ML-Agents for machine learning. They aim to optimize the excavator's performance in tasks such as digging and lifting soil while addressing issues related to the agent's learning efficiency and behavior.

Recent Agent Commands and Tool Results

1. User Command:

   • The user expressed concerns about the evaluation interval for the excavator's actions, stating, "今二秒間隔で評価してるけど、実際のショベルカーってもう少し長い間隔で動かしているとおもう...もし修正するべき部分があれば教えてほしい" (Currently evaluating every two seconds, but I think real excavators operate over a longer interval... Please let me know if there are parts that need fixing).

2. Context:

   • The user is analyzing the impact of the current evaluation interval on the learning process of the excavator agent, suggesting that a shorter interval might lead to unrealistic torque outputs compared to actual excavator operations.

3. Active Work:

   • The user was actively discussing the evaluation interval and its implications on the agent's learning and performance when the token budget was exceeded.

Connection to Overall User Goals

The user's inquiries about the evaluation interval and its potential effects on torque output are directly related to their goal of refining the excavator's control and learning mechanisms. They are seeking to ensure that the agent's learning process aligns more closely with real-world excavator operations, which may involve adjusting the timing of evaluations to better reflect the physical constraints and operational characteristics of actual machinery. This reflects their ongoing efforts to improve the simulation's realism and the agent's effectiveness in performing tasks.
TITLE: ショベルカーのトルク制御と評価間隔の見直し

Created from VS Code via the GitHub Pull Request extension.

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