class DoublePoleEnvironment(Environment):
""" two poles to be balanced from the same cart. """
indim = 1
ooutdim = 6
def __init__(self):
self.p1 = CartPoleEnvironment()
self.p2 = CartPoleEnvironment()
self.p2.l = 0.05
self.p2.mp = 0.01
self.reset()
def getSensors(self):
""" returns the state one step (dt) ahead in the future. stores the state in
self.sensors because it is needed for the next calculation. The sensor return
vector has 6 elements: theta1, theta1', theta2, theta2', s, s'
(s being the distance from the origin).
"""
s1 = self.p1.getSensors()
s2 = self.p2.getSensors()
self.sensors = (s1[0], s1[1], s2[0], s2[1], s2[2], s2[3])
return self.sensors
def reset(self):
""" re-initializes the environment, setting the cart back in a random position.
"""
self.p1.reset()
self.p2.reset()
# put cart in the same place:
self.p2.sensors = (self.p2.sensors[0], self.p2.sensors[1],
self.p1.sensors[2], self.p1.sensors[3])
self.getSensors()
def performAction(self, action):
""" stores the desired action for the next runge-kutta step.
"""
self.p1.performAction(action)
self.p2.performAction(action)
def getCartPosition(self):
""" auxiliary access to just the cart position, to be used by BalanceTask """
return self.sensors[4]
def getPoleAngles(self):
""" auxiliary access to just the pole angle(s), to be used by BalanceTask """
return [self.sensors[0], self.sensors[2]]
class DoublePoleEnvironment(Environment):
""" two poles to be balanced from the same cart. """
indim = 1
ooutdim = 6
def __init__(self):
self.p1 = CartPoleEnvironment()
self.p2 = CartPoleEnvironment()
self.p2.l = 0.05
self.p2.mp = 0.01
self.reset()
def getSensors(self):
""" returns the state one step (dt) ahead in the future. stores the state in
self.sensors because it is needed for the next calculation. The sensor return
vector has 6 elements: theta1, theta1', theta2, theta2', s, s'
(s being the distance from the origin).
"""
s1 = self.p1.getSensors()
s2 = self.p2.getSensors()
self.sensors = (s1[0], s1[1], s2[0], s2[1], s2[2], s2[3])
return self.sensors
def reset(self):
""" re-initializes the environment, setting the cart back in a random position.
"""
self.p1.reset()
self.p2.reset()
# put cart in the same place:
self.p2.sensors = (self.p2.sensors[0], self.p2.sensors[1], self.p1.sensors[2], self.p1.sensors[3])
self.getSensors()
def performAction(self, action):
""" stores the desired action for the next runge-kutta step.
"""
self.p1.performAction(action)
self.p2.performAction(action)
def getCartPosition(self):
""" auxiliary access to just the cart position, to be used by BalanceTask """
return self.sensors[4]
def getPoleAngles(self):
""" auxiliary access to just the pole angle(s), to be used by BalanceTask """
return [self.sensors[0], self.sensors[2]]
