def __init__(self, xodeFile="./pa10.xode", renderer=True, realtime=True, ip="127.0.0.1", port="21590", buf='16384'):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# Load model file
self.loadXODE(xodeFile)
# Set the gravity to 0. The network can learn much easier without the
# force of gravity to counteract
gravity = 0.0
self.setGravity(gravity)
# Environment coefficient of friction
self.FricMu = 8.0
# Real-world time for each time step
self.dt = 0.005
# Number of steps time steps to simulate for each call to performAction()
self.stepsPerAction = 1
# Add PA10 sensors
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addSensor(sensors.SpecificBodyPositionSensor(['pa10_t2'], 'tooltipPos'))
# Add PA10 actuators
self.addActuator(actuators.JointActuator())
# Reset number of actuators and sensors (observers)
self.actLen = self.indim
self.obsLen = self.outdim
return
def __init__(self,
renderer=True,
realtime=False,
ip="127.0.0.1",
port="21590",
buf='16384'):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# load model file
self.loadXODE(
imp.find_module('pybrain')[1] +
"/rl/environments/ode/models/johnnie.xode")
# standard sensors and actuators
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addActuator(actuators.JointActuator())
#set act- and obsLength, the min/max angles and the relative max touques of the joints
self.actLen = self.getActionLength()
self.obsLen = len(self.getSensors())
#ArmLeft, ArmRight, Hip, PevelLeft, PevelRight, TibiaLeft, TibiaRight, KneeLeft, KneeRight, FootLeft, FootRight
self.tourqueList = array(
[0.2, 0.2, 0.2, 0.5, 0.5, 2.0, 2.0, 2.0, 2.0, 0.5, 0.5], )
self.cHighList = array(
[1.0, 1.0, 0.5, 0.5, 0.5, 1.5, 1.5, 1.5, 1.5, 0.25, 0.25], )
self.cLowList = array(
[-0.5, -0.5, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.25, -0.25], )
self.stepsPerAction = 1
def __init__(self, renderer=True, realtime=False, ip="127.0.0.1", port="21590", buf='16384'):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# load model file
self.loadXODE(imp.find_module('pybrain')[1] + "/rl/environments/ode/models/acrobot.xode")
# standard sensors and actuators
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addActuator(actuators.JointActuator())
#set act- and obsLength, the min/max angles and the relative max touques of the joints
self.actLen = self.indim
self.obsLen = len(self.getSensors())
self.stepsPerAction = 1
def __init__(self, renderer=True, realtime=False, ip="127.0.0.1", port="21590", buf='16384'):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# load model file
self.loadXODE(imp.find_module('pybrain')[1] + "/rl/environments/ode/models/johnnie.xode")
# standard sensors and actuators
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addActuator(actuators.JointActuator())
#set act- and obsLength, the min/max angles and the relative max touques of the joints
self.actLen = self.indim
self.obsLen = len(self.getSensors())
#ArmLeft, ArmRight, Hip, PevelLeft, PevelRight, TibiaLeft, TibiaRight, KneeLeft, KneeRight, FootLeft, FootRight
self.tourqueList = array([0.2, 0.2, 0.2, 0.5, 0.5, 2.0, 2.0, 2.0, 2.0, 0.5, 0.5],)
self.cHighList = array([1.0, 1.0, 0.5, 0.5, 0.5, 1.5, 1.5, 1.5, 1.5, 0.25, 0.25],)
self.cLowList = array([-0.5, -0.5, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.25, -0.25],)
self.stepsPerAction = 1
def __init__(self, renderer=True, realtime=False, ip="127.0.0.1", port="21590", buf='16384'):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# load model file
self.loadXODE("models/tetra2.xode")
# standard sensors and actuators
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addActuator(actuators.JointActuator())
#set act- and obsLength, the min/max angles and the relative max touques of the joints
self.actLen = self.indim
self.obsLen = len(self.getSensors())
# frontAxis, frontLeftLeg, frontRightLeg, rearAxis, rearLeftLeg, rearRightLeg
self.tourqueList = array([6.0, 1.0, 1.0, 6.0, 1.0, 1.0])
self.cHighList = array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0])
self.cLowList = array([-1.0, -1.0, -1.0, -1.0, -1.0, -1.0])
self.stepsPerAction = 1
def __init__(self,
renderer=True,
realtime=True,
ip="127.0.0.1",
port="21590",
buf='16384'):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# load model file
self.loadXODE(
imp.find_module('pybrain')[1] +
"/rl/environments/ode/models/acrobot.xode")
# standard sensors and actuators
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addActuator(actuators.JointActuator())
#set act- and obsLength, the min/max angles and the relative max touques of the joints
self.actLen = self.indim
self.obsLen = len(self.getSensors())
self.stepsPerAction = 1
def __init__(
self, xodeFile="ccrlGlas.xode", renderer=True, realtime=False, ip="127.0.0.1", port="21590", buf="16384"
):
ODEEnvironment.__init__(self, renderer, realtime, ip, port, buf)
# load model file
self.pert = asarray([1.0, 0.0, 0.0])
self.loadXODE(imp.find_module("pybrain")[1] + "/rl/environments/ode/models/" + xodeFile)
# standard sensors and actuators
self.addSensor(sensors.JointSensor())
self.addSensor(sensors.JointVelocitySensor())
self.addActuator(actuators.JointActuator())
# set act- and obsLength, the min/max angles and the relative max touques of the joints
self.actLen = self.getActionLength()
self.obsLen = len(self.getSensors())
# ArmLeft, ArmRight, Hip, PevelLeft, PevelRight, TibiaLeft, TibiaRight, KneeLeft, KneeRight, FootLeft, FootRight
self.tourqueList = array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.8, 0.8, 0.8, 0.5, 0.5, 0.1])
# self.tourqueList=array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],)
self.cHighList = array([0.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.9])
self.cLowList = array(
[-1.0, -1.0, -1.0, -1.5, -1.0, -1.0, -1.0, -0.7, -1.0, 0.0, -1.0, -1.5, -1.0, -1.0, -1.0, 0.0]
)
self.stepsPerAction = 1
def step(self):
# Detect collisions and create contact joints
self.tableSum = 0
self.glasSum = 0
ODEEnvironment.step(self)
def reset(self):
ODEEnvironment.reset(self)
self.pert = asarray([1.5, 0.0, 1.0])
def step(self):
# Detect collisions and create contact joints
self.tableSum = 0
self.glasSum = 0
ODEEnvironment.step(self)
def reset(self):
ODEEnvironment.reset(self)
self.pert = asarray([1.0, 0.0, 0.0])
