def __init__(self, data_folder, config_file, play):
self.render_filename = None
self.mass = None
self.inertia_tensor = None
self.rotors = []
self.wing = None
# initialize constant value
self.gravity = np.array([0, 0, 9.8])
self.dt_mean = 0.01
self.dt_std = 0.005
self.total_iter = 2000
# parse xml config file
self.parse_config_file(data_folder + config_file)
# construct rendering environment
from mujoco_rendering_env import mujoco_env
self.render_env = mujoco_env.MujocoEnv(model_path=data_folder +
self.render_filename)
self.render_intervel = int(1.0 / 50.0 / self.dt_mean)
# self.render_env._get_viewer()
# integral term
self.I_dt = self.dt_mean
self.I_error = None
# mass property
self.real_mass = self.mass
self.real_inertia_tensor = self.inertia_tensor.copy()
# train or play
self.play = play
# construct action space
# construct observation space
ob = self.get_observation_vector()
ob_low = np.ones(len(ob)) * (-np.finfo(np.float32).max)
ob_high = np.ones(len(ob)) * (np.finfo(np.float32).max)
self.observation_space = spaces.Box(ob_low, ob_high, dtype=np.float32)
def __init__(self, data_folder, config_file, play):
self.render_filename = None
self.mass = None
self.inertia_tensor = None
self.rotors = []
self.wing = None
# initialize constant value
self.gravity = np.array([0, 0, 9.8])
self.dt_mean = 0.01
self.dt_std = 0.005
self.total_iter = 2000
# parse xml config file
self.parse_config_file(data_folder + config_file)
# construct rendering environment
if play:
from mujoco_rendering_env import mujoco_env
self.render_env = mujoco_env.MujocoEnv(model_path=data_folder +
self.render_filename)
else:
self.render_env = None
self.render_intervel = int(1.0 / 50.0 / self.dt_mean)
# self.render_env._get_viewer()
# noise related
self.noisy_body = True
self.noisy_sensor = True
self.state_noise_std = np.array([
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.005, 0.005, 0.0005, 0.0005,
0.0005
])
self.noisy_rotor = False
self.noisy_aerodynamics = True
self.simulate_delay = True
self.delay = 0.04
self.delay_mean = 0.04
self.delay_std = 0.01
self.noisy_dt = True
self.constrain_motor_output = True
self.motor_constrain_clip = 0.4
self.real_rotors = []
for i in range(len(self.rotors)):
self.real_rotors.append(
Rotor(self.rotors[i].position, self.rotors[i].direction,
self.rotors[i].clockwise, self.rotors[i].torque_coef))
# integral term
self.I_dt = self.dt_mean
self.I_error = None
# mass property
self.real_mass = self.mass
self.real_inertia_tensor = self.inertia_tensor.copy()
# initialize rigid body
self.rigid_body = rigid_body.RigidBody(
mass=self.mass, inertia_body=self.inertia_tensor)
self.state = None
# train or play
self.play = play
# training variables
self.seed()
self.iter = None
self.epoch = 0
self.timesofar = None
self.target = np.zeros(4)
self.state_his = None
self.I_error = np.zeros(4)
# construct action space
self.max_thrust = 7.0
action_low = np.ones(len(self.rotors)) * -1.0 * self.max_thrust / 2.0
action_high = np.ones(len(self.rotors)) * self.max_thrust / 2.0
self.action_space = spaces.Box(action_low,
action_high,
dtype=np.float32)
# construct observation space
ob = self.get_observation_vector()
ob_low = np.ones(len(ob)) * (-np.finfo(np.float32).max)
ob_high = np.ones(len(ob)) * (np.finfo(np.float32).max)
self.observation_space = spaces.Box(ob_low, ob_high, dtype=np.float32)