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Diffstat (limited to 'System/Pendulum/swingUp.py')
| -rw-r--r-- | System/Pendulum/swingUp.py | 207 |
1 files changed, 0 insertions, 207 deletions
diff --git a/System/Pendulum/swingUp.py b/System/Pendulum/swingUp.py deleted file mode 100644 index fb5d4c0..0000000 --- a/System/Pendulum/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 |