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envs.py
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envs.py
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import environments.envs
import envs_dov
#import envs_dmp2d
#import envs_vworlds
catalog = {}
catalog.update(envs_dov.catalog) # Dovecot
#catalog.update(envs_dmp2d.catalog) # DMP2D
#catalog.update(envs_vworlds.catalog) # VWorlds
def kin(dim=20, limit=150, lengths=None, syn=None):
"""Create a configuration of a 2D arm"""
kin_name = None
if syn is None:
kin_cfg = environments.envs.KinematicArm2D.defcfg._deepcopy()
else:
kin_cfg = environments.envs.KinArmSynergies2D.defcfg._deepcopy()
kin_cfg.syn_span = syn
kin_cfg.syn_res = syn
if lengths is None:
kin_name = 'kin{}_{}'.format(dim, limit)
if syn is not None:
kin_name += '_syn{}'.format(syn)
kin_cfg.dim = dim
if lengths is None:
kin_cfg.lengths = 1.0/kin_cfg.dim
else:
assert len(lengths) == dim
kin_cfg.lengths = lengths
kin_cfg.limits = (-limit, limit)
return kin_name, kin_cfg
# cataloging some common configurations
for dim in [2, 3, 5, 7, 8, 9, 10, 15, 20, 30, 40, 50, 60, 80, 100]:
env_name, env_cfg = kin(dim=dim, limit=150)
catalog[env_name] = env_cfg
catalog['vowels'] = environments.envs.VowelModel.defcfg._copy()