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cartpole_swingup.py
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cartpole_swingup.py
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"""
Cart pole swing-up: Original version from:
https://github.com/zuoxingdong/DeepPILCO/blob/master/cartpole_swingup.py
Modified so that done=True when x is outside of -2.4 to 2.4
Reward is also reshaped to be similar to PyBullet/roboschool version
More difficult, since dt is 0.05 (not 0.01), and only 200 timesteps
"""
import logging
import math
import gym
from gym import spaces
from gym.utils import seeding
import numpy as np
logger = logging.getLogger(__name__)
class CartPoleSwingUpEnv(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second' : 50
}
def __init__(self):
self.g = 9.82 # gravity
self.m_c = 0.5 # cart mass
self.m_p = 0.5 # pendulum mass
self.total_m = (self.m_p + self.m_c)
self.l = 0.6 # pole's length
self.m_p_l = (self.m_p*self.l)
self.force_mag = 10.0
self.dt = 0.01 # seconds between state updates
self.b = 0.1 # friction coefficient
self.t = 0 # timestep
self.t_limit = 1000
# Angle at which to fail the episode
self.theta_threshold_radians = 12 * 2 * math.pi / 360
self.x_threshold = 2.4
high = np.array([
np.finfo(np.float32).max,
np.finfo(np.float32).max,
np.finfo(np.float32).max,
np.finfo(np.float32).max,
np.finfo(np.float32).max])
self.action_space = spaces.Box(-1.0, 1.0, shape=(1,))
self.observation_space = spaces.Box(-high, high)
self._seed()
self.viewer = None
self.state = None
def _seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def _step(self, action):
# Valid action
action = np.clip(action, -1.0, 1.0)[0]
action *= self.force_mag
state = self.state
x, x_dot, theta, theta_dot = state
s = math.sin(theta)
c = math.cos(theta)
xdot_update = (-2*self.m_p_l*(theta_dot**2)*s + 3*self.m_p*self.g*s*c + 4*action - 4*self.b*x_dot)/(4*self.total_m - 3*self.m_p*c**2)
thetadot_update = (-3*self.m_p_l*(theta_dot**2)*s*c + 6*self.total_m*self.g*s + 6*(action - self.b*x_dot)*c)/(4*self.l*self.total_m - 3*self.m_p_l*c**2)
x = x + x_dot*self.dt
theta = theta + theta_dot*self.dt
x_dot = x_dot + xdot_update*self.dt
theta_dot = theta_dot + thetadot_update*self.dt
self.state = (x,x_dot,theta,theta_dot)
done = False
if x < -self.x_threshold or x > self.x_threshold:
done = True
self.t += 1
if self.t >= self.t_limit:
done = True
reward_theta = (np.cos(theta)+1.0)/2.0
reward_x = np.cos((x/self.x_threshold)*(np.pi/2.0))
reward = reward_theta*reward_x
obs = np.array([x,x_dot,np.cos(theta),np.sin(theta),theta_dot])
return obs, reward, done, {}
def _reset(self):
#self.state = self.np_random.normal(loc=np.array([0.0, 0.0, 30*(2*np.pi)/360, 0.0]), scale=np.array([0.0, 0.0, 0.0, 0.0]))
self.state = np.random.normal(loc=np.array([0.0, 0.0, np.pi, 0.0]), scale=np.array([0.2, 0.2, 0.2, 0.2]))
self.steps_beyond_done = None
self.t = 0 # timestep
x, x_dot, theta, theta_dot = self.state
obs = np.array([x,x_dot,np.cos(theta),np.sin(theta),theta_dot])
return obs
def _render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
screen_width = 600
screen_height = 600 # before was 400
world_width = 5 # max visible position of cart
scale = screen_width/world_width
carty = screen_height/2 # TOP OF CART
polewidth = 6.0
polelen = scale*self.l # 0.6 or self.l
cartwidth = 40.0
cartheight = 20.0
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
cart = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
self.carttrans = rendering.Transform()
cart.add_attr(self.carttrans)
cart.set_color(1, 0, 0)
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(0, 0, 1)
self.poletrans = rendering.Transform(translation=(0, 0))
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(0.1, 1, 1)
self.viewer.add_geom(self.axle)
# Make another circle on the top of the pole
self.pole_bob = rendering.make_circle(polewidth/2)
self.pole_bob_trans = rendering.Transform()
self.pole_bob.add_attr(self.pole_bob_trans)
self.pole_bob.add_attr(self.poletrans)
self.pole_bob.add_attr(self.carttrans)
self.pole_bob.set_color(0, 0, 0)
self.viewer.add_geom(self.pole_bob)
self.wheel_l = rendering.make_circle(cartheight/4)
self.wheel_r = rendering.make_circle(cartheight/4)
self.wheeltrans_l = rendering.Transform(translation=(-cartwidth/2, -cartheight/2))
self.wheeltrans_r = rendering.Transform(translation=(cartwidth/2, -cartheight/2))
self.wheel_l.add_attr(self.wheeltrans_l)
self.wheel_l.add_attr(self.carttrans)
self.wheel_r.add_attr(self.wheeltrans_r)
self.wheel_r.add_attr(self.carttrans)
self.wheel_l.set_color(0, 0, 0) # Black, (B, G, R)
self.wheel_r.set_color(0, 0, 0) # Black, (B, G, R)
self.viewer.add_geom(self.wheel_l)
self.viewer.add_geom(self.wheel_r)
self.track = rendering.Line((screen_width/2 - self.x_threshold*scale,carty - cartheight/2 - cartheight/4),
(screen_width/2 + self.x_threshold*scale,carty - cartheight/2 - cartheight/4))
self.track.set_color(0,0,0)
self.viewer.add_geom(self.track)
if self.state is None: return None
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])
self.pole_bob_trans.set_translation(-self.l*np.sin(x[2]), self.l*np.cos(x[2]))
return self.viewer.render(return_rgb_array = mode=='rgb_array')