import pyrado from pyrado.environments.rcspysim.ball_in_tube import ( BallInTubeIKSim, BallInTubePosDSSim, BallInTubePosIKActivationSim, BallInTubeVelDSSim, ) from pyrado.policies.feed_forward.dummy import IdlePolicy from pyrado.policies.feed_forward.time import TimePolicy from pyrado.sampling.rollout import after_rollout_query, rollout from pyrado.utils.data_types import RenderMode from pyrado.utils.input_output import print_cbt rcsenv.setLogLevel(4) def create_idle_setup(physicsEngine, graphFileName, dt, max_steps, ref_frame, checkJointLimits): # Set up environment env = BallInTubeVelDSSim( physicsEngine=physicsEngine, graphFileName=graphFileName, dt=dt, max_steps=max_steps, tasks_left=None, # use defaults tasks_right=None, # use defaults ref_frame=ref_frame, fixedInitState=False, checkJointLimits=checkJointLimits, taskCombinationMethod="sum",
""" Script to test the bi-manual box shelving task using a hard-coded time-based policy """ import rcsenv import pyrado from pyrado.environments.rcspysim.box_shelving import BoxShelvingPosMPsSim, BoxShelvingVelMPsSim from pyrado.policies.dummy import IdlePolicy from pyrado.policies.time import TimePolicy from pyrado.sampling.rollout import rollout, after_rollout_query from pyrado.utils.data_types import RenderMode from pyrado.utils.input_output import print_cbt rcsenv.setLogLevel(0) def create_idle_setup(physicsEngine, graphFileName, dt, max_steps, ref_frame, checkJointLimits): # Set up environment env = BoxShelvingPosMPsSim( physicsEngine=physicsEngine, graphFileName=graphFileName, dt=dt, max_steps=max_steps, mps_left=None, # use defaults mps_right=None, # use defaults ref_frame=ref_frame, collisionConfig={'file': 'collisionModel.xml'}, checkJointLimits=checkJointLimits, ) # Set up policy
import pyrado from pyrado.domain_randomization.domain_parameter import UniformDomainParam from pyrado.domain_randomization.domain_randomizer import DomainRandomizer from pyrado.environment_wrappers.domain_randomization import DomainRandWrapperLive from pyrado.environments.rcspysim.mini_golf import MiniGolfIKSim, MiniGolfJointCtrlSim from pyrado.policies.features import FeatureStack, const_feat from pyrado.policies.feed_back.linear import LinearPolicy from pyrado.policies.feed_forward.dummy import IdlePolicy from pyrado.policies.feed_forward.poly_time import PolySplineTimePolicy from pyrado.policies.special.environment_specific import create_mg_joint_pos_policy from pyrado.sampling.rollout import after_rollout_query, rollout from pyrado.utils.data_types import RenderMode from pyrado.utils.input_output import print_cbt rcsenv.setLogLevel(2) def create_idle_setup(physicsEngine: str, dt: float, max_steps: int, checkJointLimits: bool): # Set up environment env = MiniGolfIKSim( usePhysicsNode=True, physicsEngine=physicsEngine, dt=dt, max_steps=max_steps, checkJointLimits=checkJointLimits, fixedInitState=True, observeForceTorque=True, )
""" import rcsenv import pyrado from pyrado.domain_randomization.domain_parameter import UniformDomainParam from pyrado.domain_randomization.domain_randomizer import DomainRandomizer from pyrado.environment_wrappers.domain_randomization import DomainRandWrapperLive from pyrado.environments.rcspysim.box_flipping import BoxFlippingVelDSSim, BoxFlippingPosDSSim, \ BoxFlippingIKActivationSim from pyrado.policies.special.dummy import IdlePolicy from pyrado.policies.special.time import TimePolicy from pyrado.sampling.rollout import rollout, after_rollout_query from pyrado.utils.data_types import RenderMode from pyrado.utils.input_output import print_cbt rcsenv.setLogLevel(1) def create_idle_setup(physicsEngine, graphFileName, dt, max_steps, ref_frame, checkJointLimits): # Set up environment env = BoxFlippingVelDSSim( usePhysicsNode=True, physicsEngine=physicsEngine, graphFileName=graphFileName, dt=dt, max_steps=max_steps, mps_left=None, # use defaults mps_right=None, # use defaults ref_frame=ref_frame, collisionConfig={'file': 'collisionModel.xml'}, checkJointLimits=checkJointLimits,
import rcsenv import pyrado from pyrado.environments.rcspysim.box_lifting import ( BoxLiftingPosDSSim, BoxLiftingPosIKActivationSim, BoxLiftingVelDSSim, BoxLiftingVelIKActivationSim, ) from pyrado.policies.feed_forward.dummy import IdlePolicy from pyrado.policies.feed_forward.time import TimePolicy from pyrado.sampling.rollout import after_rollout_query, rollout from pyrado.utils.data_types import RenderMode from pyrado.utils.input_output import print_cbt rcsenv.setLogLevel(5) def create_idle_setup(physicsEngine, graphFileName, dt, max_steps, ref_frame, checkJointLimits): # Set up environment env = BoxLiftingVelDSSim( physicsEngine=physicsEngine, graphFileName=graphFileName, dt=dt, max_steps=max_steps, tasks_left=None, # use defaults tasks_right=None, # use defaults ref_frame=ref_frame, collisionConfig={"file": "collisionModel.xml"}, fixedInitState=True,