# OR TECHNICAL UNIVERSITY OF DARMSTADT BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
# IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""
Test the functionality of Pyrado using the Quanser Ball balancer setup.
"""
from pyrado.domain_randomization.utils import print_domain_params
from pyrado.environments.pysim.quanser_ball_balancer import QBallBalancerSim
from pyrado.policies.feed_forward.dummy import IdlePolicy
from pyrado.sampling.rollout import rollout
from pyrado.utils.data_types import RenderMode
if __name__ == "__main__":
# Set up environment
env = QBallBalancerSim(dt=1 / 500.0, max_steps=10000)
env.reset(domain_param=dict(offset_th_x=50.0 / 180 * 3.141592))
print_domain_params(env.domain_param)
# Set up policy
policy = IdlePolicy(env.spec)
# Simulate
ro = rollout(env,
policy,
render_mode=RenderMode(text=True),
stop_on_done=True)
env = MiniGolfJointCtrlSim(dt=dt)
else:
raise pyrado.ValueErr(
given=env_name,
eq_constraint=
f"{QBallBalancerSim.name},{QCartPoleSwingUpSim.name},{QQubeSwingUpSim.name}, "
f"wam-bic, wam-jsc, mg-ik, or mg-jnt",
)
for idx_r, rollout in enumerate(rollouts):
print_cbt(f"Replaying rollout {idx_r + 1} of {len(rollouts)}", "c")
done = False
env.reset(domain_param=domain_param)
while not done:
# Simulate like in rollout()
for step in rollout:
# Display step by step like rollout()
t_start = time.time()
env.state = step.state
if not isinstance(env, SimPyEnv):
# Use reset() to hammer the current state into MuJoCo / Rcs at evey step
env.reset(init_state=step.state)
do_sleep = True
if pyrado.mujoco_loaded:
from pyrado.environments.mujoco.base import MujocoSimEnv