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(
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