def env_init(self):
print('VREP Environmental Program Started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000,
5) # Connect to V-REP
if self.clientID != -1:
print('Connected to remote API server')
self.fmu = FMU()
self.start_simulation()
else:
print('Connection Failure')
sys.exit('Abort Connection')
return self.makeTaskSpec()
def env_init(self):
print ('VREP Environmental Program Started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # Connect to V-REP
if self.clientID!=-1:
print ('Connected to remote API server')
self.fmu = FMU()
self.start_simulation()
else:
print('Connection Failure')
sys.exit('Abort Connection')
return self.makeTaskSpec()
class vrep_environment(Environment):
# range of state space observations
MAX_POS_XY = 0.5 # [m] maximum deviation in position in each dimension
MAX_LIN_RATE = 1.0 # [m/s] maximum velocity in each dimension
MAX_ANG_RATE = 4 * np.pi # [rad/s] maximum angular velocity
MAX_ANG = np.pi * 30./180. # [rad] maximum angular
state_goal = np.array([0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]).astype(np.float32)
state_ranges = np.array([[-MAX_POS_XY, MAX_POS_XY]] * 2
+ [[0.0, 1.0]] * 1
+ [[-MAX_LIN_RATE, MAX_LIN_RATE]] * 3
+ [[-MAX_ANG_RATE, MAX_ANG_RATE]] * 3
+ [[-MAX_ANG, MAX_ANG]] * 3)
action_ranges = np.array([[-1., 1.]] * 2)
discount_factor=.99
num_sim_steps = 0
def env_init(self):
print ('VREP Environmental Program Started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # Connect to V-REP
if self.clientID!=-1:
print ('Connected to remote API server')
self.fmu = FMU()
self.start_simulation()
else:
print('Connection Failure')
sys.exit('Abort Connection')
return self.makeTaskSpec()
def env_start(self):
self.restart_simulation()
returnObs=Observation()
returnObs.doubleArray=self.getState().tolist()
return returnObs
def env_step(self,thisAction):
# validate the action
assert len(thisAction.doubleArray)==2,"Expected 4 double actions."
self.takeAction(thisAction.doubleArray)
theObs = Observation()
theObs.doubleArray = self.getState().tolist()
theReward,terminate = self.getReward()
returnRO = Reward_observation_terminal()
returnRO.r = theReward
returnRO.o = theObs
returnRO.terminal = int(terminate)
return returnRO
def env_cleanup(self):
pass
def env_message(self,inMessage):
return "I got nothing to say about your message"
def makeTaskSpec(self):
ts = taskspec.TaskSpec(discount_factor=self.discount_factor,
reward_range=('UNSPEC','UNSPEC'))
ts.setDiscountFactor(self.discount_factor)
for minValue, maxValue in self.action_ranges:
ts.addContinuousAction((minValue, maxValue))
for minValue, maxValue in self.state_ranges:
ts.addContinuousObservation((minValue, maxValue))
ts.setEpisodic()
ts.setExtra("name: VREP quadcopter environment.")
return ts.toTaskSpec()
def start_simulation(self):
mode = vrep.simx_opmode_oneshot_wait
assert vrep.simxStartSimulation(self.clientID, mode) == 0,"StartSim Error"
assert vrep.simxSynchronous(self.clientID, True) == 0,"Sync Error"
self.config_handles()
def restart_simulation(self):
mode = vrep.simx_opmode_oneshot_wait
assert vrep.simxStopSimulation(self.clientID, mode) == 0, \
"StopSim Error"
time.sleep(0.1)
self.start_simulation()
self.num_sim_steps = 0
def proceed_simulation(self, sim_steps=1):
for t in range(sim_steps):
vrep.simxSynchronousTrigger(self.clientID)
def config_handles(self):
# Object-handle-configuration
errorFlag, self.Quadbase = vrep.simxGetObjectHandle(self.clientID,
'Quadricopter_base',
vrep.simx_opmode_oneshot_wait)
errorFlag, self.Quadobj = vrep.simxGetObjectHandle(self.clientID,
'Quadricopter',
vrep.simx_opmode_oneshot_wait)
self.getState(initial=True)
time.sleep(0.05)
def getState(self, initial=False):
if initial:
mode = vrep.simx_opmode_streaming
else:
mode = vrep.simx_opmode_buffer
# Retrieve IMU data
errorSignal, self.stepSeconds = vrep.simxGetFloatSignal(self.clientID,
'stepSeconds', mode)
errorOrien, baseEuler = vrep.simxGetObjectOrientation(self.clientID,
self.Quadbase, -1, mode)
errorPos, basePos = vrep.simxGetObjectPosition(self.clientID,
self.Quadbase,-1, mode)
errorVel, linVel, angVel = vrep.simxGetObjectVelocity(self.clientID,
self.Quadbase, mode)
if initial:
if (errorSignal or errorOrien or errorPos or errorVel != vrep.simx_return_ok):
time.sleep(0.05)
pass
else:
# Convert Euler angles to pitch, roll, yaw
rollRad, pitchRad = rotate((baseEuler[0], baseEuler[1]), baseEuler[2])
pitchRad = -pitchRad
yawRad = -baseEuler[2]
baseRad = np.array([yawRad,rollRad,pitchRad])+0.0
self.state = np.asarray(np.concatenate((basePos,linVel,angVel,baseRad)),dtype=np.float32)
#print("data_core: " + str(self.state))
return self.state
def takeAction(self,doubleAction):
"""
state = (basePos[0], basePos[1], basePos[2],
linVel[3], linVel[4], linVel[5],
angVel[6], angVel[7], angVel[8],
baseYaw[9], baseRoll[10], basePitch[11])
"""
# self.prevState = self.state
#print("oldState: "+str(self.state))
self.num_sim_steps += 1
action = np.asarray(doubleAction,dtype=np.float32)
#print("takeAction: "+str(doubleAction))
# Get altitude directly from position Z
altiMeters = self.state[2]
# Get motor thrusts from FMU model
thrusts = self.fmu.getMotors((self.state[11],self.state[10],self.state[9]),altiMeters,
action, self.stepSeconds)
# print("thrusts: " + str(thrusts[0]) + " " + str(thrusts[1]) + " " + \
# str(thrusts[2]) + " " + str(thrusts[3]))
#vrep.simxPauseCommunication(self.clientID,True)
for t in range(4):
errorFlag = vrep.simxSetFloatSignal(self.clientID,'thrusts'+str(t+1),
thrusts[t], vrep.simx_opmode_oneshot)
#vrep.simxPauseCommunication(self.clientID,False)
self.proceed_simulation()
def getReward(self):
#print("newState: "+str(self.state))
r = 0.0
if np.any(self.state_ranges[:,0] > self.state[:]) or \
np.any(self.state_ranges[:,1] < self.state[:]):
# r = -1
r = -np.sum(3.0 * self.state_ranges[:,1]**2)
r *= 6000-self.num_sim_steps
terminate = True
else:
# perr = np.linalg.norm(self.prevState[:2] - self.state_goal[:2])
# nerr = np.linalg.norm(self.state[:2] - self.state_goal[:2])
# r = math.exp(-np.sum(abs(self.state[:2]-self.state_goal[:2])/(.1*(self.state_ranges[:2,1]-self.state_ranges[:2,0]))))* \
# math.exp(-np.sum(abs(self.state[3:5]-self.state_goal[3:5])/(.1*(self.state_ranges[3:5,1]-self.state_ranges[3:5,0]))))* \
# math.exp(-np.sum(abs(self.state[6:8]-self.state_goal[6:8])/(.1*(self.state_ranges[6:8,1]-self.state_ranges[6:8,0]))))
# r = math.exp(-np.sum(abs(self.state[:2]-self.state_goal[:2])/(.1*(self.state_ranges[:2,1]-self.state_ranges[:2,0]))))* \
# math.exp(-np.sum(abs(self.state[3:5]-self.state_goal[3:5])/(.1*(self.state_ranges[3:5,1]-self.state_ranges[3:5,0]))))
# r -= (np.sum(((self.state[:2]-self.state_goal[:2])/(self.state_ranges[:2,1]-self.state_ranges[:2,0]))**2)+ \
# np.sum(((self.state[3:5]-self.state_goal[3:5])/(self.state_ranges[3:5,1]-self.state_ranges[3:5,0]))**2))
r -= (self.state[0]-self.state_goal[0])**2
r -= (self.state[1]-self.state_goal[1])**2
r -= self.state[3]**2
r -= self.state[4]**2
terminate = False
print("reward "+str(r))
return r,terminate
class vrep_environment(Environment):
# range of state space observations
MAX_POS_XY = 0.5 # [m] maximum deviation in position in each dimension
MAX_LIN_RATE = 1.0 # [m/s] maximum velocity in each dimension
MAX_ANG_RATE = 4 * np.pi # [rad/s] maximum angular velocity
MAX_ANG = np.pi * 30. / 180. # [rad] maximum angular
state_goal = np.array(
[0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0]).astype(np.float32)
state_ranges = np.array([[-MAX_POS_XY, MAX_POS_XY]] * 2 +
[[0.0, 1.0]] * 1 +
[[-MAX_LIN_RATE, MAX_LIN_RATE]] * 3 +
[[-MAX_ANG_RATE, MAX_ANG_RATE]] * 3 +
[[-MAX_ANG, MAX_ANG]] * 3)
action_ranges = np.array([[-1., 1.]] * 2)
discount_factor = .99
num_sim_steps = 0
def env_init(self):
print('VREP Environmental Program Started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000,
5) # Connect to V-REP
if self.clientID != -1:
print('Connected to remote API server')
self.fmu = FMU()
self.start_simulation()
else:
print('Connection Failure')
sys.exit('Abort Connection')
return self.makeTaskSpec()
def env_start(self):
self.restart_simulation()
returnObs = Observation()
returnObs.doubleArray = self.getState().tolist()
return returnObs
def env_step(self, thisAction):
# validate the action
assert len(thisAction.doubleArray) == 2, "Expected 4 double actions."
self.takeAction(thisAction.doubleArray)
theObs = Observation()
theObs.doubleArray = self.getState().tolist()
theReward, terminate = self.getReward()
returnRO = Reward_observation_terminal()
returnRO.r = theReward
returnRO.o = theObs
returnRO.terminal = int(terminate)
return returnRO
def env_cleanup(self):
pass
def env_message(self, inMessage):
return "I got nothing to say about your message"
def makeTaskSpec(self):
ts = taskspec.TaskSpec(discount_factor=self.discount_factor,
reward_range=('UNSPEC', 'UNSPEC'))
ts.setDiscountFactor(self.discount_factor)
for minValue, maxValue in self.action_ranges:
ts.addContinuousAction((minValue, maxValue))
for minValue, maxValue in self.state_ranges:
ts.addContinuousObservation((minValue, maxValue))
ts.setEpisodic()
ts.setExtra("name: VREP quadcopter environment.")
return ts.toTaskSpec()
def start_simulation(self):
mode = vrep.simx_opmode_oneshot_wait
assert vrep.simxStartSimulation(self.clientID,
mode) == 0, "StartSim Error"
assert vrep.simxSynchronous(self.clientID, True) == 0, "Sync Error"
self.config_handles()
def restart_simulation(self):
mode = vrep.simx_opmode_oneshot_wait
assert vrep.simxStopSimulation(self.clientID, mode) == 0, \
"StopSim Error"
time.sleep(0.1)
self.start_simulation()
self.num_sim_steps = 0
def proceed_simulation(self, sim_steps=1):
for t in range(sim_steps):
vrep.simxSynchronousTrigger(self.clientID)
def config_handles(self):
# Object-handle-configuration
errorFlag, self.Quadbase = vrep.simxGetObjectHandle(
self.clientID, 'Quadricopter_base', vrep.simx_opmode_oneshot_wait)
errorFlag, self.Quadobj = vrep.simxGetObjectHandle(
self.clientID, 'Quadricopter', vrep.simx_opmode_oneshot_wait)
self.getState(initial=True)
time.sleep(0.05)
def getState(self, initial=False):
if initial:
mode = vrep.simx_opmode_streaming
else:
mode = vrep.simx_opmode_buffer
# Retrieve IMU data
errorSignal, self.stepSeconds = vrep.simxGetFloatSignal(
self.clientID, 'stepSeconds', mode)
errorOrien, baseEuler = vrep.simxGetObjectOrientation(
self.clientID, self.Quadbase, -1, mode)
errorPos, basePos = vrep.simxGetObjectPosition(self.clientID,
self.Quadbase, -1, mode)
errorVel, linVel, angVel = vrep.simxGetObjectVelocity(
self.clientID, self.Quadbase, mode)
if initial:
if (errorSignal or errorOrien or errorPos
or errorVel != vrep.simx_return_ok):
time.sleep(0.05)
pass
else:
# Convert Euler angles to pitch, roll, yaw
rollRad, pitchRad = rotate((baseEuler[0], baseEuler[1]),
baseEuler[2])
pitchRad = -pitchRad
yawRad = -baseEuler[2]
baseRad = np.array([yawRad, rollRad, pitchRad]) + 0.0
self.state = np.asarray(np.concatenate(
(basePos, linVel, angVel, baseRad)),
dtype=np.float32)
#print("data_core: " + str(self.state))
return self.state
def takeAction(self, doubleAction):
"""
state = (basePos[0], basePos[1], basePos[2],
linVel[3], linVel[4], linVel[5],
angVel[6], angVel[7], angVel[8],
baseYaw[9], baseRoll[10], basePitch[11])
"""
# self.prevState = self.state
#print("oldState: "+str(self.state))
self.num_sim_steps += 1
action = np.asarray(doubleAction, dtype=np.float32)
#print("takeAction: "+str(doubleAction))
# Get altitude directly from position Z
altiMeters = self.state[2]
# Get motor thrusts from FMU model
thrusts = self.fmu.getMotors(
(self.state[11], self.state[10], self.state[9]), altiMeters,
action, self.stepSeconds)
# print("thrusts: " + str(thrusts[0]) + " " + str(thrusts[1]) + " " + \
# str(thrusts[2]) + " " + str(thrusts[3]))
#vrep.simxPauseCommunication(self.clientID,True)
for t in range(4):
errorFlag = vrep.simxSetFloatSignal(self.clientID,
'thrusts' + str(t + 1),
thrusts[t],
vrep.simx_opmode_oneshot)
#vrep.simxPauseCommunication(self.clientID,False)
self.proceed_simulation()
def getReward(self):
#print("newState: "+str(self.state))
r = 0.0
if np.any(self.state_ranges[:,0] > self.state[:]) or \
np.any(self.state_ranges[:,1] < self.state[:]):
# r = -1
r = -np.sum(3.0 * self.state_ranges[:, 1]**2)
r *= 6000 - self.num_sim_steps
terminate = True
else:
# perr = np.linalg.norm(self.prevState[:2] - self.state_goal[:2])
# nerr = np.linalg.norm(self.state[:2] - self.state_goal[:2])
# r = math.exp(-np.sum(abs(self.state[:2]-self.state_goal[:2])/(.1*(self.state_ranges[:2,1]-self.state_ranges[:2,0]))))* \
# math.exp(-np.sum(abs(self.state[3:5]-self.state_goal[3:5])/(.1*(self.state_ranges[3:5,1]-self.state_ranges[3:5,0]))))* \
# math.exp(-np.sum(abs(self.state[6:8]-self.state_goal[6:8])/(.1*(self.state_ranges[6:8,1]-self.state_ranges[6:8,0]))))
# r = math.exp(-np.sum(abs(self.state[:2]-self.state_goal[:2])/(.1*(self.state_ranges[:2,1]-self.state_ranges[:2,0]))))* \
# math.exp(-np.sum(abs(self.state[3:5]-self.state_goal[3:5])/(.1*(self.state_ranges[3:5,1]-self.state_ranges[3:5,0]))))
# r -= (np.sum(((self.state[:2]-self.state_goal[:2])/(self.state_ranges[:2,1]-self.state_ranges[:2,0]))**2)+ \
# np.sum(((self.state[3:5]-self.state_goal[3:5])/(self.state_ranges[3:5,1]-self.state_ranges[3:5,0]))**2))
r -= (self.state[0] - self.state_goal[0])**2
r -= (self.state[1] - self.state_goal[1])**2
r -= self.state[3]**2
r -= self.state[4]**2
terminate = False
print("reward " + str(r))
return r, terminate