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,
