def test_synergies(self):
cfg = KinArmSynergies2D.defcfg._deepcopy()
cfg.dim = 3
cfg.limits = (-180.0, 180.0)
cfg.lengths = 1.0
cfg.syn_span = 3
cfg.syn_res = 3
kin_env = Environment.create(cfg)
m_signal = {'j0': 0.0, 'j1': 0.0, 'j2': 0.0, 's0': 1.0}
feedback = kin_env.execute(m_signal)
s_signal = feedback['s_signal']
self.assertTrue(near(s_signal['y'], 0.0))
self.assertTrue(near(s_signal['x'], -1.0))
def test_synergies(self):
cfg = KinArmSynergies2D.defcfg._deepcopy()
cfg.dim = 3
cfg.limits = (-180.0, 180.0)
cfg.lengths = 1.0
cfg.syn_span = 3
cfg.syn_res = 3
kin_env = Environment.create(cfg)
m_signal = {'j0': 0.0, 'j1': 0.0, 'j2': 0.0, 's0': 1.0}
feedback = kin_env.execute(m_signal)
s_signal = feedback['s_signal']
self.assertTrue(near(s_signal['y'], 0.0))
self.assertTrue(near(s_signal['x'], -1.0))
plotting.circle(xs[ 1:-1], ys[ 1:-1], radius=0.008, **kwargs)
plotting.circle(xs[-1: ], ys[-1: ], radius=0.01, color='red')
plotting.hold(False)
if __name__ == '__main__':
from environments import Environment
from environments.envs import KinematicArm2D
# Arm with same length segments
cfg = KinematicArm2D.defcfg._deepcopy()
cfg.dim = 20
cfg.limits = (-150.0, 150.0)
cfg.lengths = 1/cfg.dim
cfg.full_sensors = True
kin_env = Environment.create(cfg)
# Arm with decreasing lenghts segments
cfg2 = cfg._deepcopy()
cfg2.lengths = np.array([0.9**i for i in range(cfg2.dim)])
cfg2.lengths = cfg2.lengths/sum(cfg2.lengths)
kin_env2 = Environment.create(cfg2)
m_signals = [{'j0': -31.23, 'j1': -44.21, 'j2': -20.18, 'j3': +31.55, 'j4': +35.66, 'j5': +5.19, 'j6': +17.34, 'j7': +24.51, 'j8': -2.69, 'j9': +26.52, 'j10': -34.87, 'j11': +10.72, 'j12': -19.38, 'j13': -33.49, 'j14': +13.78, 'j15': -22.43, 'j16': +33.61, 'j17': -28.95, 'j18': +34.31, 'j19': 45.75},
{'j0': -53.66, 'j1': -56.20, 'j2': -56.67, 'j3': -34.83, 'j4': -20.29, 'j5': +7.51, 'j6': +20.92, 'j7': +25.51, 'j8': -17.59, 'j9': +6.51, 'j10': -9.65, 'j11': +45.70, 'j12': +20.88, 'j13': +24.25, 'j14': +28.65, 'j15': -42.79, 'j16': +34.45, 'j17': -39.90, 'j18': +2.74, 'j19': -11.12},
{'j0': +58.13, 'j1': +45.43, 'j2': -21.01, 'j3': +2.35, 'j4': -38.90, 'j5': -39.23, 'j6': +45.14, 'j7': -57.58, 'j8': +39.49, 'j9': +29.01, 'j10': -0.09, 'j11': -56.19, 'j12': +56.07, 'j13': +5.91, 'j14': +36.61, 'j15': -52.65, 'j16': -58.60, 'j17': +32.45, 'j18': +43.69, 'j19': -120.77},
{'j0': +53.09, 'j1': +55.83, 'j2': -51.08, 'j3': +41.44, 'j4': +44.43, 'j5': +4.67, 'j6': +2.15, 'j7': +37.23, 'j8': -3.77, 'j9': -46.70, 'j10': +56.41, 'j11': -21.08, 'j12': +13.73, 'j13': +47.23, 'j14': +7.94, 'j15': -27.26, 'j16': +56.54, 'j17': -7.77, 'j18': -18.98, 'j19': +149.46}]
plotting.output_file('html/arm_vizu.html')
for i, m_signal in enumerate(m_signals):
plotting.circle(xs[1:-1], ys[1:-1], radius=0.008, **kwargs)
plotting.circle(xs[-1:], ys[-1:], radius=0.01, color='red')
plotting.hold(False)
if __name__ == '__main__':
from environments import Environment
from environments.envs import KinematicArm2D
# Arm with same length segments
cfg = KinematicArm2D.defcfg._deepcopy()
cfg.dim = 20
cfg.limits = (-150.0, 150.0)
cfg.lengths = 1 / cfg.dim
cfg.full_sensors = True
kin_env = Environment.create(cfg)
# Arm with decreasing lenghts segments
cfg2 = cfg._deepcopy()
cfg2.lengths = np.array([0.9**i for i in range(cfg2.dim)])
cfg2.lengths = cfg2.lengths / sum(cfg2.lengths)
kin_env2 = Environment.create(cfg2)
m_signals = [{
'j0': -31.23,
'j1': -44.21,
'j2': -20.18,
'j3': +31.55,
'j4': +35.66,
'j5': +5.19,
'j6': +17.34,