min_u = -0.2 * grav
sys_params['max_u'] = max_u
sys_params['min_u'] = min_u
dynamics = partial(double_integrator, **sys_params)
#model 2 (modified thrust)
sys_params = {} # parameters of dynamical system
max_u = 0.8 * grav
min_u = -0.8 * grav
sys_params['max_u'] = max_u
sys_params['min_u'] = min_u
dynamics_2 = partial(double_integrator, **sys_params)
# Construct avoid region, system should stay within hypercube
cube_lims = np.array([[0, -3], [4, 3]])
avoid_func = lambda x: hypercube_int(x, cube_lims=cube_lims)
# Make MDP
lamb = 0.1 #lambda
my_world = Avoid(num_nodes,
s_lims,
num_nodes_a,
a_lims,
dynamics,
avoid_func,
lamb=lamb)
my_world_2 = Avoid(num_nodes,
s_lims,
num_nodes_a,
a_lims,
grav = 9.81 # gravity
sys_params = {} # parameters of dynamical system
max_u = 0.2 * grav
min_u = -0.2 * grav
sys_params['max_u'] = max_u
sys_params['min_u'] = min_u
dynamics = partial(double_integrator, **sys_params)
# Construct avoid region, system should stay within hypercube
cube_lims = np.array([[0, -3], [4, 3]])
nose_lims = np.array([[1.75, -0.25], [2.25, 0.25]])
lips_lims = np.array([[0, -3], [4, -2.5]])
left_eye_center = np.array([0.75, 2])
right_eye_center = np.array([3.25, 2])
radius = 0.25
avoid_func = lambda x: hypercube_int(x, cube_lims=cube_lims)
face_func = lambda x: hypersphere_ext(x, np.array([2, 0]), 4)
lip_func = lambda x: -hypercube_int(x, lips_lims)
nose_func = lambda x: -hypercube_int(x, nose_lims)
left_eye_func = lambda x: hypersphere_ext(x, left_eye_center, radius)
right_eye_func = lambda x: hypersphere_ext(x, right_eye_center, radius)
union_func = union(shapes=[left_eye_func, right_eye_func])
# With discounting
lamb = 0.1 # lambda
my_world = Avoid(num_nodes,
s_lims,
num_nodes_a,
a_lims,
dynamics,