diff --git a/.github/workflows/unitTest.yml b/.github/workflows/unitTest.yml index f7ed894..5682595 100644 --- a/.github/workflows/unitTest.yml +++ b/.github/workflows/unitTest.yml @@ -55,7 +55,7 @@ jobs: # install your root project, if required #---------------------------------------------- - name: Install library - run: poetry install --no-interaction --extras scenes + run: poetry install --no-interaction #---------------------------------------------- # run test suite #---------------------------------------------- diff --git a/planarenvs/n_link_reacher/__init__.py b/planarenvs/n_link_reacher/__init__.py index 871523e..5324c73 100644 --- a/planarenvs/n_link_reacher/__init__.py +++ b/planarenvs/n_link_reacher/__init__.py @@ -8,7 +8,3 @@ id="nLink-reacher-vel-v0", entry_point="planarenvs.n_link_reacher.envs:NLinkVelReacherEnv", ) -register( - id="nLink-reacher-tor-v0", - entry_point="planarenvs.n_link_reacher.envs:NLinkTorReacherEnv", -) diff --git a/planarenvs/n_link_reacher/envs/__init__.py b/planarenvs/n_link_reacher/envs/__init__.py index 8adeeb5..df74279 100644 --- a/planarenvs/n_link_reacher/envs/__init__.py +++ b/planarenvs/n_link_reacher/envs/__init__.py @@ -1,3 +1,2 @@ from planarenvs.n_link_reacher.envs.acc import NLinkAccReacherEnv from planarenvs.n_link_reacher.envs.vel import NLinkVelReacherEnv -from planarenvs.n_link_reacher.envs.tor import NLinkTorReacherEnv diff --git a/planarenvs/n_link_reacher/envs/tor.py b/planarenvs/n_link_reacher/envs/tor.py deleted file mode 100644 index 87d3ae5..0000000 --- a/planarenvs/n_link_reacher/envs/tor.py +++ /dev/null @@ -1,43 +0,0 @@ -import numpy as np -from gym import spaces - -from planarenvs.n_link_reacher.envs.n_link_reacher_env import NLinkReacherEnv -from planarenvs.n_link_reacher.resources.createDynamics import createDynamics - - -class NLinkTorReacherEnv(NLinkReacherEnv): - def __init__(self, render=False, n=2, dt=0.01, friction=0.0): - super().__init__(render, n, dt) - self._dynamics_fun, _, _ = createDynamics(self._n) - self._friction = friction - self._g = 10 - - def set_spaces(self): - self.observation_space = spaces.Dict( - { - "x": spaces.Box( - low=-self._lim_up_pos, - high=self._lim_up_pos, - dtype=np.float64 - ), - "xdot": spaces.Box( - low=-self._lim_up_vel, - high=self._lim_up_vel, - dtype=np.float64 - ), - } - ) - self.action_space = spaces.Box( - low=-self._lim_up_tor, high=self._lim_up_tor, dtype=np.float64 - ) - - def continuous_dynamics(self, x, t): - q = x[0 : self._n] - qdot = x[self._n : self._n * 2] - l = [self.LINK_LENGTH for i in range(self._n)] - m = [self.LINK_MASS for i in range(self._n)] - tau = self._action - acc = np.array( - self._dynamics_fun(q, qdot, l, m, self._g, self._friction, tau) - )[:, 0] - return acc diff --git a/planarenvs/n_link_reacher/resources/.gitignore b/planarenvs/n_link_reacher/resources/.gitignore index e3cb1de..e69de29 100644 --- a/planarenvs/n_link_reacher/resources/.gitignore +++ b/planarenvs/n_link_reacher/resources/.gitignore @@ -1 +0,0 @@ -*.casadi diff --git a/planarenvs/n_link_reacher/resources/createDynamics.py b/planarenvs/n_link_reacher/resources/createDynamics.py deleted file mode 100644 index 185d9db..0000000 --- a/planarenvs/n_link_reacher/resources/createDynamics.py +++ /dev/null @@ -1,103 +0,0 @@ -# pylint: disable-all -import casadi as ca -from casadi import cos, sin -import numpy as np -from sys import argv - - -# create variables -def main(): - # n = int(argv[1]) - n = 15 - print( - "Creating dynamics for pendulum with " - + str(n) - + " joints, point masses" - ) - name = "./" + str(n) + "_Reacher.casadi" - dynamics, _, _ = createDynamics(n) - dynamics.save(name) - - -def createDynamics(n): - q = ca.SX.sym("q", n) - qdot = ca.SX.sym("qdot", n) - qddot = ca.SX.sym("qddot", n) - tau = ca.SX.sym("tau", n) - l = ca.SX.sym("l", n) - m = ca.SX.sym("m", n) - k = ca.SX.sym("k", 1) - g = ca.SX.sym("g", 1) - fk = ca.SX.sym("x", (n, 2)) - v = ca.SX.sym("v", (n, 2)) - v_2 = ca.SX.sym("v_2", n) - - # velocities and positions - v[0, 0] = -1 * sin(q[0]) * l[0] * qdot[0] - v[0, 1] = cos(q[0]) * l[0] * qdot[0] - fk[0, 0] = cos(q[0]) * l[0] - fk[0, 1] = sin(q[0]) * l[0] - - for i in range(1, n): - angle = 0.0 - for j in range(i + 1): - angle += q[j] - v[i, 0] = v[i - 1, 0] - sin(angle) * l[i] * qdot[i] - v[i, 1] = v[i - 1, 1] + cos(angle) * l[i] * qdot[i] - fk[i, 0] = fk[i - 1, 0] + cos(angle) * l[i] - fk[i, 1] = fk[i - 1, 1] + sin(angle) * l[i] - - for i in range(n): - v_2[i] = ca.norm_2(v[i, :]) ** 2 - - # kinetic energy - T = sum([0.5 * m[i] * v_2[i] for i in range(n)]) - - # potential energy - V = sum([g * m[i] * fk[i, 1] for i in range(n)]) - - # lagrangian - L = T - V - - # derivatives - dL_dq = ca.gradient(L, q) - dL_dqdot = ca.gradient(L, qdot) - - d2L_dq2 = ca.jacobian(dL_dq, q) - d2L_dqdqdot = ca.jacobian(dL_dq, qdot) - d2L_dqdot2 = ca.jacobian(dL_dqdot, qdot) - - M = d2L_dqdot2 - F = d2L_dqdqdot - f = dL_dq - # damping - K = np.identity(n) * k - - tau_forward = ( - ca.mtimes(M, qddot) + ca.mtimes(F, qdot) + ca.mtimes(K, qdot) - f - ) - # equation of motion - # M * q_ddot + F q_dot - f = tau - # augmented for first order system - tau_aug = ca.vertcat(np.zeros((n, 1)), tau) - f_aug = ca.vertcat(np.zeros((n, 1)), f) - F_aug = ca.horzcat(np.zeros((2 * n, n)), ca.vertcat(-1 * np.identity(n), F)) - K_aug = ca.horzcat(np.zeros((2 * n, n)), ca.vertcat(0 * np.identity(n), K)) - M_aug = ca.vertcat( - ca.horzcat(np.identity(n), np.zeros((n, n))), - ca.horzcat(np.zeros((n, n)), M), - ) - - x = ca.vertcat(q, qdot) - - rhs = tau_aug + f_aug - ca.mtimes(F_aug, x) - ca.mtimes(K_aug, x) - xdot = ca.solve(M_aug, rhs) - - dynamics = ca.Function("dynamics", [q, qdot, l, m, g, k, tau], [xdot]) - fk = ca.Function("fk", [q, l], [fk]) - tau_fun = ca.Function("tau", [q, qdot, l, m, g, k, qddot], [tau_forward]) - return dynamics, fk, tau_fun - - -if __name__ == "__main__": - main() diff --git a/poetry.lock b/poetry.lock index 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