"dt": dt,
"mass": 1.0,
"force_max": 1.0,
"force_min": -1.0,
"friction": 0.01,
"sysnoise": 1e-2,
}
],
# robots, brains, interfaces need to match / correspond
"ifs": [
{
# dimensions of different subparts of sm vector
# make that more compact / automatically inferred
# actually: make that lists of names whose length is the dim
# from world
"dim_s_proprio": make_column_names_numbered("j_ang", motors),
"dim_s_extero": make_column_names_numbered("ee_pos", 2),
# internal
"dim_s_intero": make_column_names_numbered("j_ang_", motors) + \
make_column_names_numbered("j_ang_error", motors) + \
make_column_names_numbered("j_ang_goal", motors) + \
make_column_names_numbered("pos_", extero) + \
make_column_names_numbered("pos_error", extero) + \
make_column_names_numbered("pos_goal", extero) + \
["avgerror_prop", "avgerror_ext", "davgerror_prop", "davgerror_ext", "avgderror_prop", "avgderror_ext"],
"dim_s_reward": make_column_names_numbered("dist_goal", 1),
"dim_s_pred": make_column_names_numbered("j_ang_vel_pred", motors),
# to world
"dim_s_motor": make_column_names_numbered("m", motors),
},
],
expr_id = make_expr_id(name)
# using dict convention seemed to be the best over yaml and friends
conf = {
# first level corresponds to experiment
"numsteps": numsteps,
"id": "%s_%s" % (name, time.strftime("%Y%m%d_%H%M%S")),
# these are arrays of dicts specifying components
# robots, brains, interfaces need to match / correspond
"ifs": [
{
# dimensions of different subparts of sm vector
# make that more compact / automatically inferred
# actually: make that lists of names whose length is the dim
# from world
"dim_s_proprio": make_column_names_numbered("acc", motors),
"dim_s_extero": make_column_names_numbered("vel", motors),
# internal
"dim_s_intero": make_column_names_numbered("vel_", motors) + \
make_column_names_numbered("pos_", motors) + \
make_column_names_numbered("vel_error", motors) + \
make_column_names_numbered("vel_goal", motors), #+ \
# make_column_names_numbered("thresh", motors),
"dim_s_reward": make_column_names_numbered("dist_goal", 1),
"dim_s_pred": make_column_names_numbered("acc_pred", motors),
# to world
"dim_s_motor": make_column_names_numbered("m", motors),
},
],
"robots": [
{
numsteps,
"id":
expr_id,
# these are arrays of dicts specifying components
"robots": [{
"class":
PointmassRobot, # SimpleRandomRobot,
"type":
"explauto",
"name":
make_robot_name(expr_id, "pm", 0),
# dimensions of different subparts of sm vector
# make that more compact / automatically inferred
# actually: make that lists of names whose length is the dim
"dim_s_proprio":
make_column_names_numbered("acc", motors),
"dim_s_extero":
make_column_names_numbered("vel", motors),
"dim_s_intero":
make_column_names_numbered("vel_", motors) +
make_column_names_numbered("pos_", motors) +
make_column_names_numbered("vel_goal", motors),
"dim_s_reward":
make_column_names_numbered("dist_goal", 1),
"dim_s_pred":
make_column_names_numbered("acc_pred", motors),
"dim_s_motor":
make_column_names_numbered("m", motors),
"numsteps":
numsteps,
"control":
# using dict convention seemed to be the best over yaml and friends
conf = {
# first level corresponds to experiment
"numsteps": numsteps,
"id": expr_id,
# these are arrays of dicts specifying components
"robots": [
{
"class": PointmassRobot, # SimpleRandomRobot,
"type": "explauto",
"name": make_robot_name(expr_id, "pm", 0),
# dimensions of different subparts of sm vector
# make that more compact / automatically inferred
# actually: make that lists of names whose length is the dim
"dim_s_proprio": make_column_names_numbered("acc", motors),
"dim_s_extero": make_column_names_numbered("vel", motors),
"dim_s_intero": make_column_names_numbered("vel_", motors) + make_column_names_numbered("pos_", motors) + make_column_names_numbered("vel_goal", motors) + make_column_names_numbered("vel_error", motors),
"dim_s_reward": make_column_names_numbered("dist_goal", 1),
"dim_s_pred": make_column_names_numbered("acc_pred", motors),
"dim_s_motor": make_column_names_numbered("m", motors),
"numsteps": numsteps,
"control": "force",
"ros": False,
"brains": [
{
"class": TaxisBrain,
"name": "taxisbrain",
"dim_s_motor": motors,
"variant": "continuous_linear", # "binary_threshold"
# tasks be of length either one or same as len(robots)
numsteps,
"id":
expr_id,
# these are arrays of dicts specifying components
"robots": [{
"class":
SimplearmRobot,
"type":
"explauto",
"name":
make_robot_name(expr_id, "sa", 0),
# dimensions of different subparts of sm vector
# make that more compact / automatically inferred
# actually: make that lists of names whose length is the dim
"dim_s_proprio":
make_column_names_numbered("j_ang", motors),
"dim_s_extero":
make_column_names_numbered("ee_pos", 2),
"dim_s_intero":
make_column_names_numbered("j_ang_", motors) +
make_column_names_numbered("ee_pos_", 2) +
make_column_names_numbered("j_ang_goal", motors),
"dim_s_reward":
make_column_names_numbered("dist_goal", 1),
"dim_s_pred":
make_column_names_numbered("j_ang_pred", motors),
"dim_s_motor":
make_column_names_numbered("m", motors),
"numsteps":
numsteps,
"control":