def oscillator_nw(position_vector, max_time=20.0, fitness_option=6):
# Internal state variables of the pacemaker oscillator used as global variables
global u1_1, u2_1, v1_1, v2_1, y1_1, y2_1, o_1, gain_1, bias_1
home_dir = os.path.expanduser('~')
log('[OSC] Running oscillator_5.oscillator_nw')
# Extract the elements from the position vector
kf = position_vector[0]
GAIN1 = position_vector[1]
GAIN2 = position_vector[2]
GAIN3 = position_vector[3]
GAIN4 = position_vector[4]
GAIN5 = position_vector[5]
GAIN6 = position_vector[6]
BIAS1 = position_vector[7]
BIAS2 = position_vector[8]
BIAS3 = position_vector[9]
BIAS4 = position_vector[10]
log('[OSC] Printing chromosome')
log('[OSC] kf:{0} GAIN1:{1} GAIN2:{2} GAIN3:{3} GAIN4:{4} GAIN5:{5} GAIN6:{6} BIAS1:{7} BIAS2:{8} BIAS3:{9} BIAS4:{10}'
.format(kf, GAIN1, GAIN2, GAIN3, GAIN4, GAIN5, GAIN6, BIAS1, BIAS2,
BIAS3, BIAS4))
log('[OSC] {0}'.format(position_vector))
# Try to connect to VREP
try_counter = 0
try_max = 5
robot_handle = None
while robot_handle is None:
try:
log('[OSC] Trying to create robot handle (attempt: {0} of {1})'.
format(try_counter, try_max))
try_counter += 1
robot_handle = Nico(
sync_sleep_time=0.1,
motor_config=os.path.join(
home_dir,
'computing/repositories/hierarchical_bipedal_controller/motor_configs/nico_humanoid_full_v1.json'
),
vrep=True,
vrep_host='127.0.0.1',
vrep_port=19997,
vrep_scene=os.path.join(
home_dir,
'computing/repositories/hierarchical_bipedal_controller/vrep_scenes/NICO-Simplified-July2017_standing_Foot_sensors_v4_no_graphs.ttt'
))
except Exception, e:
log('[OSC] Could not connect to VREP')
log('[OSC] Error: {0}'.format(e.message))
time.sleep(1.0)
if try_counter > try_max:
log('[OSC] Unable to create robot handle after {0} tries'.format(
try_max))
exit(1)
def oscillator_nw(position_vector, max_time=20.0, fitness_option=6, gain_l=1.0, gain_r=1.0):
home_dir = os.path.expanduser('~')
# log('[OSC] Running oscillator_3.oscillator_nw')
# Extract the elements from the position vector
kf = position_vector[0]
GAIN1 = position_vector[1]
GAIN2 = position_vector[2]
GAIN3 = position_vector[3]
GAIN4 = position_vector[4]
GAIN5 = position_vector[5]
GAIN6 = position_vector[6]
BIAS1 = position_vector[7]
BIAS2 = position_vector[8]
BIAS3 = position_vector[9]
BIAS4 = position_vector[10]
k = position_vector[11]
# log('[OSC] Printing chromosome')
# log('[OSC] kf:{0} GAIN1:{1} GAIN2:{2} GAIN3:{3} GAIN4:{4} GAIN5:{5} GAIN6:{6} BIAS1:{7} BIAS2:{8} BIAS3:{9} BIAS4:{10} k:{11}'.
# format(kf, GAIN1, GAIN2, GAIN3, GAIN4, GAIN5, GAIN6, BIAS1, BIAS2, BIAS3, BIAS4, k))
# Try to connect to VREP
try_counter = 0
try_max = 5
robot_handle = None
while robot_handle is None:
try:
# log('[OSC] Trying to create robot handle (attempt: {0} of {1})'.format(try_counter, try_max))
try_counter += 1
robot_handle = Nico(sync_sleep_time=0.1,
motor_config=os.path.join(home_dir,
'computing/repositories/hierarchical_bipedal_controller/motor_configs/nico_humanoid_full_v1.json'),
vrep=True,
vrep_host='127.0.0.1',
vrep_port=19997,
vrep_scene=os.path.join(home_dir,
'computing/repositories/hierarchical_bipedal_controller/vrep_scenes/NICO_static_test.ttt')
)
except Exception, e:
# log('[OSC] Could not connect to VREP')
# log('[OSC] Error: {0}'.format(e.message))
time.sleep(1.0)
if try_counter > try_max:
# log('[OSC] Unable to create robot handle after {0} tries'.format(try_max))
exit(1)
import os
from matsuoka_walk.robots import Nico
home_dir = os.path.expanduser('~')
robot_handle = Nico(sync_sleep_time=0.1,
motor_config=os.path.join(home_dir,'computing/repositories/hierarchical_bipedal_controller/motor_configs/nico_humanoid_full_v1.json'),
vrep=True,
vrep_host='127.0.0.1',
vrep_port=19997,
vrep_scene=os.path.join(home_dir,'computing/repositories/hierarchical_bipedal_controller/vrep_scenes/NICO-Simplified-July2017_standing.ttt')
)
target_angles = {'l_shoulder_y': -0.6, 'r_shoulder_y':0.6}
robot_handle.set_angles_slow(target_angles, 5.0)
def matsuoka_init(self):
# Set the home directory
self.home_dir = os.path.expanduser('~')
log('[ENV] matsuoka_init called')
# Max time to walk (in seconds)
self.max_walk_time = 20
# Variables from the best chromosome
position_vector = [
0.7461913734531209, 0.8422944031253159, 0.07043758116681641,
0.14236621222553963, 0.48893497409925746, 0.5980055418720059,
0.740811806645801, -0.11618361090424223, 0.492832184960149,
-0.2949145038394889, 0.175450703085948, -0.3419733470484183
]
self.kf = position_vector[0]
self.GAIN1 = position_vector[1]
self.GAIN2 = position_vector[2]
self.GAIN3 = position_vector[3]
self.GAIN4 = position_vector[4]
self.GAIN5 = position_vector[5]
self.GAIN6 = position_vector[6]
self.BIAS1 = position_vector[7]
self.BIAS2 = position_vector[8]
self.BIAS3 = position_vector[9]
self.BIAS4 = position_vector[10]
self.k = position_vector[11]
# Create the robot handle
# Try to connect to VREP
try_counter = 0
try_max = 5
self.robot_handle = None
while self.robot_handle is None:
# Close existing connections if any
pypot.vrep.close_all_connections()
try:
log('[ENV] Trying to create robot handle (attempt: {0} of {1})'
.format(try_counter, try_max))
try_counter += 1
self.robot_handle = Nico(
sync_sleep_time=0.1,
motor_config=os.path.join(
self.home_dir,
'computing/repositories/hierarchical_bipedal_controller/motor_configs/nico_humanoid_full_v1.json'
),
vrep=True,
vrep_host='127.0.0.1',
vrep_port=19997,
vrep_scene=os.path.join(
self.home_dir,
'computing/repositories/hierarchical_bipedal_controller/vrep_scenes/NICO-Simplified-July2017_standing_Foot_sensors_v4_no_graphs.ttt'
))
except Exception, e:
log('[ENV] Could not connect to VREP')
log('[ENV] Error: {0}'.format(e.message))
time.sleep(1.0)
if try_counter > try_max:
log('[ENV] Unable to create robot handle after {0} tries'.
format(try_max))
exit(1)
def __init__(self):
# Call init of superclass
threading.Thread.__init__(self)
# Set the home directory
self.home_dir = os.path.expanduser('~')
# Set the name of the VREP object
self.vrep_body_object = 'torso_11_respondable'
# This is the lowest possible gain that can be set, the highest possible gain in 1.0 (no change)
self.lowest_possible_gain = LOWEST_POSSIBLE_GAIN
# Initially the 2 gain factors are set to 1.0 (no change)
# These gain factors will be set by the RL algorithm (using the action method)
self.gain_factor_l_hip_y = 1.0
self.gain_factor_r_hip_y = 1.0
# Variable to indicate if terminal state has been reached
self.terminal = False
# Variable to stop the thread
self.stop_thread = False
# Max time to walk (in seconds)
self.max_walk_time = MAX_WALK_TIME
# Variables from the best chromosome
position_vector = BEST_CHROMOSOME
self.kf = position_vector[0]
self.GAIN1 = position_vector[1]
self.GAIN2 = position_vector[2]
self.GAIN3 = position_vector[3]
self.GAIN4 = position_vector[4]
self.GAIN5 = position_vector[5]
self.GAIN6 = position_vector[6]
self.BIAS1 = position_vector[7]
self.BIAS2 = position_vector[8]
self.BIAS3 = position_vector[9]
self.BIAS4 = position_vector[10]
self.k = position_vector[11]
# Create the robot handle
# Try to connect to VREP
try_counter = 0
try_max = 5
self.robot_handle = None
while self.robot_handle is None:
# Close existing connections if any
pypot.vrep.close_all_connections()
try:
log('[OSC] Trying to create robot handle (attempt: {0} of {1})'
.format(try_counter, try_max))
try_counter += 1
self.robot_handle = Nico(
sync_sleep_time=0.1,
motor_config=os.path.join(
self.home_dir,
'computing/repositories/hierarchical_bipedal_controller/motor_configs/nico_humanoid_full_v1.json'
),
vrep=True,
vrep_host='127.0.0.1',
vrep_port=19997,
vrep_scene=os.path.join(
self.home_dir,
'computing/repositories/hierarchical_bipedal_controller/vrep_scenes/NICO-Simplified-July2017_standing_Foot_sensors_v4_no_graphs_with_path.ttt'
))
except Exception, e:
log('[OSC] Could not connect to VREP')
log('[OSC] Error: {0}'.format(e.message))
time.sleep(1.0)
if try_counter > try_max:
log('[OSC] Unable to create robot handle after {0} tries'.
format(try_max))
exit(1)