subfolder = 'two_link'
elif args['ARM'][:4] == 'arm3':
subfolder = 'three_link'
arm_name = 'arms.%s.%s'%(subfolder, 'arm'+args['ARM'][4:])
arm_module = importlib.import_module(name=arm_name)
arm = arm_module.Arm(dt=dt)
# get the chosen controller class
controller_name = 'controllers.%s'%args['CONTROLLER'].lower()
controller_class = importlib.import_module(name=controller_name)
# get the chosen task class
task_name = 'tasks.%s'%args['TASK']
task_module = importlib.import_module(name=task_name)
print 'task: ', task_module
task = task_module.Task
# instantiate the controller for the chosen task
# and get the sim_and_plot parameters
control_shell, runner_pars = task(arm, controller_class,
sequence=args['--sequence'], scale=args['--scale'],
force=float(args['--force']) if args['--force'] is not None else None,
write_to_file=bool(args['--write_to_file']))
# set up simulate and plot system
runner = Runner(dt=dt, **runner_pars)
runner.run(arm=arm, control_shell=control_shell,
end_time=float(args['--end_time']) \
if args['--end_time'] is not None else None)
runner.show()
arm_module = importlib.import_module(name=arm_name)
arm = arm_module.Arm(dt=dt)
# get the chosen controller class
controller_name = 'controllers.%s' % args['CONTROLLER'].lower()
controller_class = importlib.import_module(name=controller_name)
# get the chosen task class
task_name = 'tasks.%s' % args['TASK']
task_module = importlib.import_module(name=task_name)
print('task: ', task_module)
task = task_module.Task
# instantiate the controller for the chosen task
# and get the sim_and_plot parameters
control_shell, runner_pars = task(
arm,
controller_class,
sequence=args['--sequence'],
scale=args['--scale'],
force=float(args['--force']) if args['--force'] is not None else None,
write_to_file=bool(args['--write_to_file']))
# set up simulate and plot system
runner = Runner(dt=dt, **runner_pars)
runner.run(arm=arm,
control_shell=control_shell,
end_time=(float(args['--end_time'])
if args['--end_time'] is not None else None))
runner.show()
# get and instantiate the chosen arm
arm_class = {'arm1':Arm1,
'arm2':Arm2,
'arm2_python':Arm2Python,
'arm3':Arm3}[args['ARM']]
arm = arm_class(options=args['--arm_options'])
# get the chosen controller class
control_class = {'dmp':dmp.Shell,
'gc':gc.Control,
'osc':osc.Control,
'trace':trace.Shell}[args['CONTROL']]
# get the chosen task class
task = {'follow':follow_mouse.Task,
'random':random_movements.Task,
'reach':reach.Task,
'write_numbers':write_numbers.Task,
'write_words':write_words.Task,
'walk':walk.Task}[args['TASK']]
# instantiate the controller for the chosen task
# and get the sim_and_plot parameters
control_shell, runner_pars = task(arm_class, control_class)
# set up simulate and plot system
runner = Runner(**runner_pars)
runner.run(arm=arm, control_shell=control_shell, video=args['--video'])
runner.show()
subfolder = 'two_link'
elif args['ARM'][:4] == 'arm3':
subfolder = 'three_link'
arm_name = 'Arms.%s.%s' % (subfolder, 'arm' + args['ARM'][4:])
arm_module = importlib.import_module(name=arm_name)
arm = arm_module.Arm(dt=dt)
# get the chosen controller class
controller_name = 'Controllers.%s' % args['CONTROLLER'].lower()
controller_class = importlib.import_module(name=controller_name)
# get the chosen task class
task_name = 'Tasks.%s' % args['TASK']
task_module = importlib.import_module(name=task_name)
task = task_module.Task
# instantiate the controller for the chosen task
# and get the sim_and_plot parameters
control_shell, runner_pars = task(
arm,
controller_class,
sequence=args['--phrase'],
scale=args['--scale'],
force=float(args['--force']) if args['--force'] is not None else None,
write_to_file=bool(args['--write_to_file']))
# set up simulate and plot system
runner = Runner(dt=dt, **runner_pars)
runner.run(arm=arm, control_shell=control_shell, end_time=args['--end_time'])
runner.show()
subfolder = 'one_link'
if args['ARM'][:4] == 'arm2':
subfolder = 'two_link'
elif args['ARM'][:4] == 'arm3':
subfolder = 'three_link'
arm_name = 'Arms.%s.%s'%(subfolder, 'arm'+args['ARM'][4:])
arm_module = importlib.import_module(name=arm_name)
arm = arm_module.Arm(dt=dt)
# get the chosen controller class
controller_name = 'Controllers.%s'%args['CONTROLLER'].lower()
controller_class = importlib.import_module(name=controller_name)
# get the chosen task class
task_name = 'Tasks.%s'%args['TASK']
task_module = importlib.import_module(name=task_name)
task = task_module.Task
# instantiate the controller for the chosen task
# and get the sim_and_plot parameters
control_shell, runner_pars = task(arm, controller_class,
sequence=args['--phrase'], scale=args['--scale'],
force=float(args['--force']) if args['--force'] is not None else None,
write_to_file=bool(args['--write_to_file']))
# set up simulate and plot system
runner = Runner(dt=dt, **runner_pars)
runner.run(arm=arm, control_shell=control_shell,
end_time=args['--end_time'])
runner.show()
'tau':.01, # tau is the time scaling term
'add_to_goals':[0,0, 0,-.3, 5e-4,-.3]}) # respecify goals for spatial scaling
else:
from Controllers.control_trajectory import Control_trajectory as Control
control_pars.update({'dt':.00001}) # how fast the trajectories rolls out
control_pars.update({'pen_down':False,
'gain':1000, # pd gain for trajectory following
'trajectory':trajectory.T})
#[0, 1.5, 1, 3]
runner_pars.update({'box':[-1.75, 1.75, 1, 2.5],#[-3,3,0,3],#[-.5, .5, 0, .5],
'trajectory':trajectory})
#--------------------------------
# run and plot the system
kp = 5 # position error gain on the PD controller
arm = Arm(**arm_pars)
control = Control(kp=kp, kv=np.sqrt(kp), **control_pars)
# set up mouse control
runner = Runner(dt=1e-4,
control_steps=1,
display_steps=100,
t_target=1.,
**runner_pars)
runner.run(arm=arm, control=control)#, video='word.mp4')
runner.show()
}[args['ARM']]
arm = arm_class(options=args['--arm_options'])
# get the chosen controller class
control_class = {
'dmp': dmp.Shell,
'gc': gc.Control,
'osc': osc.Control,
'trace': trace.Shell
}[args['CONTROL']]
# get the chosen task class
task = {
'follow': follow_mouse.Task,
'random': random_movements.Task,
'reach': reach.Task,
'write_numbers': write_numbers.Task,
'write_words': write_words.Task,
'walk': walk.Task
}[args['TASK']]
# instantiate the controller for the chosen task
# and get the sim_and_plot parameters
control_shell, runner_pars = task(arm_class, control_class)
# set up simulate and plot system
runner = Runner(**runner_pars)
runner.run(arm=arm, control_shell=control_shell, video=args['--video'])
runner.show()