Fix bug on agbot teacher and config

agbot_stanley_teacher.py

@@ -123,10 +123,8 @@ class DTreeAgBotStanleyGurobiTeacher(DTreeGurobiTeacherBase):
         sin_yaw = m.addVar(name="sinθ", **self.TRIGVAR)
         m.addGenConstrSin(old_yaw, sin_yaw)
 
-        new_x = old_x + FORWARD_VEL * CYCLE_TIME * cos_yaw
-        new_y = m.addVar(name="y'", **self.FREEVAR)
+        m.addConstr(new_x == old_x + FORWARD_VEL * CYCLE_TIME * cos_yaw)
         m.addConstr(new_y == old_y + FORWARD_VEL * CYCLE_TIME * sin_yaw)
-        new_yaw = m.addVar(name="θ'", **self.FREEVAR)
         m.addConstr(new_yaw == old_yaw + ang_vel * CYCLE_TIME)
         m.update()
 

dtree_synth_agbot.py

@@ -60,7 +60,7 @@ def main(dom: Literal["concat", "diff"], ult_bound: float):
     NUM_MAX_ITER = 500
     FEATURE_DOMAIN = dom
     ULT_BOUND = ult_bound
-    NORM_ORD = 1
+    NORM_ORD = 2
 
     teacher = DTreeAgBotStanleyGurobiTeacher(norm_ord=NORM_ORD, ultimate_bound=ULT_BOUND)
     part_to_examples = load_examples_from_numpy_array(data_5d, teacher, PARTITION)
@@ -104,7 +104,16 @@ if __name__ == "__main__":
     # NOTE To ensure safety (Stay in corn row),
     # ult_bound should be smaller than 33/32 = 1.03125
 
+    from dtree_synth_gem_stanley import clean_out_dir
+
     # main("diff", 0.0)
-    # main("diff", 1.03125)
+    # clean_out_dir("out-agbot-stability-diff-ult_bound=0.0")
+
+    # main("diff", 1.0)
+    # clean_out_dir("out-agbot-stability-diff-ult_bound=1.0")
+
     # main("concat", 0.0)
-    main("concat", 1.03125)
+    # clean_out_dir("out-agbot-stability-concat-ult_bound=0.0")
+
+    main("concat", 1.0)
+    clean_out_dir("out-agbot-stability-concat-ult_bound=1.0")