motors = 3 extero = 2 name = "taxis_sa_%dd_extero_goal" % (motors) expr_id = make_expr_id(name) # using dict convention seemed to be the best over yaml and friends conf = { # first level corresponds to experiment "numsteps": numsteps, "id": "%s_%s" % (name, time.strftime("%Y%m%d_%H%M%S")), # these are arrays of dicts specifying components "robots": [ { "class": SimpleArmRobot, # SimpleRandomRobot, "type": "explauto", "name": make_robot_name(expr_id, "sa", 0), "numsteps": numsteps, "control": "angles", "ros": False, "length_ratio": 3, "m_mins": -np.ones((motors, 1)) * np.pi/3.0, "m_maxs": np.ones((motors, 1)) * np.pi/3.0, "s_mins": np.array((-1.0, -1.0)), "s_maxs": np.array(( 1.0, 1.0)), # pointmass foo "statedim": motors * 3, "dt": dt, "mass": 1.0, "force_max": 1.0, "force_min": -1.0, "friction": 0.01,
"dim_s_intero": make_column_names_numbered("vel_", motors) + \ make_column_names_numbered("pos_", motors) + \ make_column_names_numbered("vel_error", motors) + \ make_column_names_numbered("vel_goal", motors), #+ \ # make_column_names_numbered("thresh", motors), "dim_s_reward": make_column_names_numbered("dist_goal", 1), "dim_s_pred": make_column_names_numbered("acc_pred", motors), # to world "dim_s_motor": make_column_names_numbered("m", motors), }, ], "robots": [ { "class": PointmassRobot2, # SimpleRandomRobot, "type": "explauto", "name": make_robot_name(expr_id, "pm", 0), "numsteps": numsteps, "control": "force", "ros": False, "statedim": motors * 3, "dt": dt, "mass": 1.0, "force_max": 1.0, "force_min": -1.0, "friction": 0.01, "sysnoise": 1e-3, } ], "brains": [ { "class": KinesisBrain2,
# using dict convention seemed to be the best over yaml and friends conf = { # first level corresponds to experiment "numsteps": numsteps, "id": "%s-%s" % (name, time.strftime("%Y%m%d-%H%M%S")), # these are arrays of dicts specifying components "robots": [{ "class": PointmassRobot, # SimpleRandomRobot, "type": "explauto", "name": make_robot_name(expr_id, "pm_kinematic", 0), # dimensions of different subparts of sm vector # make that more compact / automatically inferred # actually: make that lists of names whose length is the dim "dim_s_proprio": ["acc"], "dim_s_extero": ["vel"], "dim_s_intero": ["vel_", "pos_", "vel_goal"], "dim_s_reward": ["dist_goal"], "dim_s_pred": ["acc_pred"], "dim_s_motor": ["m"] * motors, "numsteps": numsteps, "control": "vel", "ros": False,
numsteps = 1000 motors = 3 name = "taxis_2d" expr_id = make_expr_id(name) # using dict convention seemed to be the best over yaml and friends conf = { # first level corresponds to experiment "numsteps": numsteps, "id": expr_id, # these are arrays of dicts specifying components "robots": [ { "class": PointmassRobot, # SimpleRandomRobot, "type": "explauto", "name": make_robot_name(expr_id, "pm", 0), # dimensions of different subparts of sm vector # make that more compact / automatically inferred # actually: make that lists of names whose length is the dim "dim_s_proprio": make_column_names_numbered("acc", motors), "dim_s_extero": make_column_names_numbered("vel", motors), "dim_s_intero": make_column_names_numbered("vel_", motors) + make_column_names_numbered("pos_", motors) + make_column_names_numbered("vel_goal", motors) + make_column_names_numbered("vel_error", motors), "dim_s_reward": make_column_names_numbered("dist_goal", 1), "dim_s_pred": make_column_names_numbered("acc_pred", motors), "dim_s_motor": make_column_names_numbered("m", motors), "numsteps": numsteps, "control": "force", "ros": False, "brains": [ { "class": TaxisBrain,
# using dict convention seemed to be the best over yaml and friends conf = { # first level corresponds to experiment "numsteps": numsteps, "id": expr_id, # these are arrays of dicts specifying components "robots": [{ "class": SimplearmRobot, "type": "explauto", "name": make_robot_name(expr_id, "sa", 0), # dimensions of different subparts of sm vector # make that more compact / automatically inferred # actually: make that lists of names whose length is the dim "dim_s_proprio": make_column_names_numbered("j_ang", motors), "dim_s_extero": make_column_names_numbered("ee_pos", 2), "dim_s_intero": make_column_names_numbered("j_ang_", motors) + make_column_names_numbered("ee_pos_", 2) + make_column_names_numbered("j_ang_goal", motors), "dim_s_reward": make_column_names_numbered("dist_goal", 1), "dim_s_pred": make_column_names_numbered("j_ang_pred", motors),