motors = 3
extero = 2
name = "taxis_sa_%dd_extero_goal" % (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": [
{
"class": SimpleArmRobot, # SimpleRandomRobot,
"type": "explauto",
"name": make_robot_name(expr_id, "sa", 0),
"numsteps": numsteps,
"control": "angles",
"ros": False,
"length_ratio": 3,
"m_mins": -np.ones((motors, 1)) * np.pi/3.0,
"m_maxs": np.ones((motors, 1)) * np.pi/3.0,
"s_mins": np.array((-1.0, -1.0)),
"s_maxs": np.array(( 1.0, 1.0)),
# pointmass foo
"statedim": motors * 3,
"dt": dt,
"mass": 1.0,
"force_max": 1.0,
"force_min": -1.0,
"friction": 0.01,
"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": [
{
"class": PointmassRobot2, # SimpleRandomRobot,
"type": "explauto",
"name": make_robot_name(expr_id, "pm", 0),
"numsteps": numsteps,
"control": "force",
"ros": False,
"statedim": motors * 3,
"dt": dt,
"mass": 1.0,
"force_max": 1.0,
"force_min": -1.0,
"friction": 0.01,
"sysnoise": 1e-3,
}
],
"brains": [
{
"class": KinesisBrain2,
# 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": [{
"class":
PointmassRobot, # SimpleRandomRobot,
"type":
"explauto",
"name":
make_robot_name(expr_id, "pm_kinematic", 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": ["acc"],
"dim_s_extero": ["vel"],
"dim_s_intero": ["vel_", "pos_", "vel_goal"],
"dim_s_reward": ["dist_goal"],
"dim_s_pred": ["acc_pred"],
"dim_s_motor": ["m"] * motors,
"numsteps":
numsteps,
"control":
"vel",
"ros":
False,
numsteps = 1000
motors = 3
name = "taxis_2d"
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": 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,
# 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":
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),
