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-"""
-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