def __init__(self, solve_continuous=False):
if not path.exists(self.xml_path):
raise IOError("File %s does not exist" % xml_path)
self.model = mjcore.MjModel(self.xml_path)
self.u = None
self.dt = self.model.opt.timestep
self.start = None
self.target = [0.0, 0.0, 0.0, 0.0]
bounds = self.model.actuator_ctrlrange.copy()
self.solve_continuous = False
low = bounds[:, 0]
high = bounds[:, 1]
self.action_space = spaces.Box(low, high)
self.metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': int(np.round(1.0 / self.dt))
}
#ILQR parameters
self.t = 0
self.tN = 50 #number of time steps
self.maxIter = 100 #maximum iterations
self.lambFctr = 10
self.lambMx = 1000
self.epsConv = 1e-3 #converge threshold
self.U = np.zeros((self.tN, 1))
def simulateFwd(self, x, u): #simulate locally
localModel = mjcore.MjModel(self.xml_path)
dof = localModel.nv
localModel = self.setState(localModel, x)
localModel = self.setControl(localModel, u, 1)
xnext = self.getStateVector(localModel)
return xnext
def simulateFwd(self, x, u):
""" Simulate the arm dynamics locally. """
localModel = mjcore.MjModel(self.xml_path)
dof = localModel.nv
localModel = self.setState(localModel, x)
localModel = self.setControl(localModel, u, 1)
xnext = self.getStateVector(localModel)
return xnext
def test_render(self):
self.viewer.start()
model = mjcore.MjModel(self.xml_path)
self.viewer.set_model(model)
(data, width, height) = self.viewer.get_image()
# check image size is consistent
# note that width and height may not equal self.width and self.height
# e.g. on a computer with retina screen,
# the width and height are scaled
self.assertEqual(len(data), 3 * width * height)
# make sure the image is not pitch black
self.assertTrue(any(map(lambda x: x > 0, data)))
def __init__(self, solve_continuous=False):
if not path.exists(self.xml_path):
raise IOError("File %s does not exist" % xml_path)
self.model = mjcore.MjModel(self.xml_path)
self.u = None
self.dt = self.model.opt.timestep
self.target = [0, 0, 0, 0]
bounds = self.model.actuator_ctrlrange.copy()
self.solve_continuous = False
low = bounds[:, 0]
high = bounds[:, 1]
self.action_space = spaces.Box(low, high)
self.metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': int(np.round(1.0 / self.dt))
}
def __init__(self, solve_continuous=False):
if not path.exists(self.xml_path):
raise IOError("File %s does not exist"%xml_path)
self.model = mjcore.MjModel(self.xml_path)
self.u = None
self.dt = self.model.opt.timestep;
self.start = None
self.target = None
numStates = 4
numCtrls = 1
self.Q = np.matrix(np.zeros((numStates,numStates)))
self.Q[0,0] = 0; self.Q[1,1] = 100;
self.R = np.matrix(np.eye(numCtrls))
bounds = self.model.actuator_ctrlrange.copy()
self.solve_continuous = False
low = bounds[:, 0]
high = bounds[:, 1]
self.action_space = spaces.Box(low, high)
self.metadata = {'render.modes': ['human', 'rgb_array'],
'video.frames_per_second' : int(np.round(1.0 / self.dt))}
def __init__(self, model_name, config=MUJOCO_ENV):
self.config = config
self.xml_path = model_folder_path + model_name
self.model = mjcore.MjModel(self.xml_path)
self.dt = self.model.opt.timestep;
def load_model(self):
if not os.path.exists(self._env_path):
raise "Provided XML file does not exist."
self.set_model(mjcore.MjModel(self._env_path))
logger.info("Loaded Mujoco model from {}".format(self._env_path))