Hopefully get the system able to be packaged

Signed-off-by: Matt Strapp <matt@mattstrapp.net>

1 files changed, 0 insertions, 207 deletions

diff --git a/System/swingUp.py b/System/swingUp.py
deleted file mode 100644
index fb5d4c0..0000000
--- a/System/swingUp.py
+++ /dev/null
@@ -1,207 +0,0 @@
-"""
-Classic cart-pole system implemented by Rich Sutton et al.
-Copied from http://incompleteideas.net/sutton/book/code/pole.c
-permalink: https://perma.cc/C9ZM-652R
-"""
-
-import math
-import gym
-from gym import spaces, logger
-from gym.utils import seeding
-import numpy as np
-
-class SwingUpEnv(gym.Env):
-    """
-    Description:
-        A pole is attached by an un-actuated joint to a cart, which moves along a frictionless track. The pendulum starts upright, and the goal is to prevent it from falling over by increasing and reducing the cart's velocity.
-
-    Source:
-        This environment corresponds to the version of the cart-pole problem described by Barto, Sutton, and Anderson
-
-    Observation: 
-        Type: Box(4)
-        Num Observation                 Min         Max
-        0   Cart Position             -4.8            4.8
-        1   Cart Velocity             -Inf            Inf
-        2   Pole Angle                 -Inf           Inf
-        3   Pole Velocity At Tip      -Inf            Inf
-        
-    Actions:
-        Type: Box(1)
-        Num Action                      Min         Max
-        0   Push cart                   -1          1
-        
-        Note: The amount the velocity that is reduced or increased is not fixed; it depends on the angle the pole is pointing. This is because the center of gravity of the pole increases the amount of energy needed to move the cart underneath it
-
-    Reward:
-        Reward is 1 for every step taken, including the termination step
-
-    Starting State:
-        All observations are assigned a uniform random value in [-0.05..0.05]
-
-    Episode Termination:
-        Pole Angle is more than 12 degrees
-        Cart Position is more than 2.4 (center of the cart reaches the edge of the display)
-        Episode length is greater than 200
-        Solved Requirements
-        Considered solved when the average reward is greater than or equal to 195.0 over 100 consecutive trials.
-    """
-    
-    metadata = {
-        'render.modes': ['human', 'rgb_array'],
-        'video.frames_per_second' : 50
-    }
-
-    def __init__(self):
-        self.gravity = 9.8
-        self.masscart = 1.0
-        self.masspole = 0.1
-        self.total_mass = (self.masspole + self.masscart)
-        self.length = 0.5 # actually half the pole's length
-        self.polemass_length = (self.masspole * self.length)
-        self.force_mag = 10.0
-        self.tau = 0.02  # seconds between state updates
-        self.kinematics_integrator = 'euler'
-
-        # Angle at which to fail the episode
-        self.x_threshold = 2.4
-        self.x_dot_threshold = 10.
-        self.theta_dot_threshold = 3*np.pi
-
-        # Angle limit set to 2 * theta_threshold_radians so failing observation is still within bounds
-        high = np.array([
-            self.x_threshold*2,
-            self.x_dot_threshold,
-            np.finfo(np.float32).max,
-            np.finfo(np.float32).max])
-
-        
-        self.action_space = spaces.Box(-np.ones(1),np.ones(1),dtype=np.float32)
-        self.observation_space = spaces.Box(-high, high, dtype=np.float32)
-
-        self.seed()
-        self.viewer = None
-        self.state = None
-
-        self.steps_beyond_done = None
-
-    def seed(self, seed=None):
-        self.np_random, seed = seeding.np_random(seed)
-        return [seed]
-
-    def step(self, action):
-        assert self.action_space.contains(action), "%r (%s) invalid"%(action, type(action))
-        state = self.state
-        x, x_dot, theta, theta_dot = state
-        force = self.force_mag * action[0]
-        
-        costheta = math.cos(theta)
-        sintheta = math.sin(theta)
-
-        if costheta > 0:
-            self.up_time += 1
-            self.max_up_time = np.max([self.up_time,self.max_up_time])
-
-        else:
-            self.up_time = 0
-                
-        temp = (force + self.polemass_length * theta_dot * theta_dot * sintheta) / self.total_mass
-        thetaacc = (self.gravity * sintheta - costheta* temp) / (self.length * (4.0/3.0 - self.masspole * costheta * costheta / self.total_mass))
-        xacc  = temp - self.polemass_length * thetaacc * costheta / self.total_mass
-        if self.kinematics_integrator == 'euler':
-            x  = x + self.tau * x_dot
-            x_dot = x_dot + self.tau * xacc
-            theta = theta + self.tau * theta_dot
-            theta_dot = theta_dot + self.tau * thetaacc
-        else: # semi-implicit euler
-            x_dot = x_dot + self.tau * xacc
-            x  = x + self.tau * x_dot
-            theta_dot = theta_dot + self.tau * thetaacc
-            theta = theta + self.tau * theta_dot
-        self.state = (x,x_dot,theta,theta_dot)
-        done =  x < -self.x_threshold \
-                or x > self.x_threshold \
-                or theta_dot < -self.theta_dot_threshold \
-                or theta_dot > self.theta_dot_threshold
-        done = bool(done)
-
-        if not done:
-            reward = np.ceil(costheta)
-        elif self.steps_beyond_done is None:
-            # Pole just fell!
-            self.steps_beyond_done = 0
-            reward = -(100 * (np.abs(x_dot)+np.abs(theta_dot)))
-        else:
-            if self.steps_beyond_done == 0:
-                logger.warn("You are calling 'step()' even though this environment has already returned done = True. You should always call 'reset()' once you receive 'done = True' -- any further steps are undefined behavior.")
-            self.steps_beyond_done += 1
-            reward = 0.0
-
-        return np.array(self.state), reward, done, {'max_up_time' : self.max_up_time}
-
-    def reset(self):
-        self.state = self.np_random.uniform(low=-.5,high=.5,size=(4,))
-        self.state[2] += np.pi
-        self.up_time = 0
-        self.max_up_time = 0
-        self.up = False
-        self.steps_beyond_done = None
-        return np.array(self.state)
-
-    def render(self, mode='human'):
-        screen_width = 600
-        screen_height = 400
-
-        world_width = self.x_threshold*2
-        scale = screen_width/world_width
-        carty = 100 # TOP OF CART
-        polewidth = 10.0
-        polelen = scale * (2 * self.length)
-        cartwidth = 50.0
-        cartheight = 30.0
-
-        if self.viewer is None:
-            from gym.envs.classic_control import rendering
-            self.viewer = rendering.Viewer(screen_width, screen_height)
-            l,r,t,b = -cartwidth/2, cartwidth/2, cartheight/2, -cartheight/2
-            axleoffset =cartheight/4.0
-            cart = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
-            self.carttrans = rendering.Transform()
-            cart.add_attr(self.carttrans)
-            self.viewer.add_geom(cart)
-            l,r,t,b = -polewidth/2,polewidth/2,polelen-polewidth/2,-polewidth/2
-            pole = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
-            pole.set_color(.8,.6,.4)
-            self.poletrans = rendering.Transform(translation=(0, axleoffset))
-            pole.add_attr(self.poletrans)
-            pole.add_attr(self.carttrans)
-            self.viewer.add_geom(pole)
-            self.axle = rendering.make_circle(polewidth/2)
-            self.axle.add_attr(self.poletrans)
-            self.axle.add_attr(self.carttrans)
-            self.axle.set_color(.5,.5,.8)
-            self.viewer.add_geom(self.axle)
-            self.track = rendering.Line((0,carty), (screen_width,carty))
-            self.track.set_color(0,0,0)
-            self.viewer.add_geom(self.track)
-
-            self._pole_geom = pole
-
-        if self.state is None: return None
-
-        # Edit the pole polygon vertex
-        pole = self._pole_geom
-        l,r,t,b = -polewidth/2,polewidth/2,polelen-polewidth/2,-polewidth/2
-        pole.v = [(l,b), (l,t), (r,t), (r,b)]
-
-        x = self.state
-        cartx = x[0]*scale+screen_width/2.0 # MIDDLE OF CART
-        self.carttrans.set_translation(cartx, carty)
-        self.poletrans.set_rotation(-x[2])
-
-        return self.viewer.render(return_rgb_array = mode=='rgb_array')
-
-    def close(self):
-        if self.viewer:
-            self.viewer.close()
-            self.viewer = None