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cart_pole_conti_env.py
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cart_pole_conti_env.py
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import math
import gym
from gym import spaces, logger
from gym.utils import seeding
import numpy as np
class CartPoleContiEnv(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': 12
}
def __init__(self):
self.gravity = 9.8
self.masscart = 1.
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.theta_threshold_radians = 24 * 2 * math.pi / 360
self.x_threshold = 2.4
# Angle limit set to 2 * theta_threshold_radians so failing observation
# is still within bounds.
high = np.array([self.x_threshold*2,
np.finfo(np.float32).max,
self.theta_threshold_radians*2,
np.finfo(np.float32).max],
dtype=np.float32)
# self.action_space = spaces.Discrete(2)
self.observation_space = spaces.Box(-high, high, dtype=np.float32)
self.seed()
self.viewer = None
self.state = None
self.reward_limit = 200
self.steps_beyond_done = None
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def step(self, action):
x, theta, x_dot, theta_dot = self.state
force = action
costheta = math.cos(theta)
sintheta = math.sin(theta)
mp = self.masspole
mc = self.masscart
l = self.length
g = -self.gravity
# For the interested reader:
# https://coneural.org/florian/papers/05_cart_pole.pdf
# temp = (force + self.polemass_length * theta_dot ** 2 * sintheta) / self.total_mass
# thetaacc = (self.gravity * sintheta - costheta * temp) / (self.length * (4.0 / 3.0 - self.masspole * costheta ** 2 / self.total_mass))
# xacc = temp - self.polemass_length * thetaacc * costheta / self.total_mass
xacc = (force + (mp*sintheta*((l*(x_dot**2)) + (g*costheta))))/(mc + (mp*(sintheta**2)))
thetaacc = ((-force*costheta) + (-mp*l*costheta*sintheta*(x_dot**2)) + (-(mp+mc)*g*sintheta))/(l*(mc + (mp*(sintheta**2))))
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, theta, x_dot, theta_dot)
done = bool(
x < -self.x_threshold
or x > self.x_threshold
or theta < -self.theta_threshold_radians
or theta > self.theta_threshold_radians
)
if not done:
reward = 1.0
self.reward_count += reward
elif self.steps_beyond_done is None:
# Pole just fell!
self.steps_beyond_done = 0
reward = 1.0
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
if self.reward_limit <= self.reward_count:
done = True
return np.array(self.state), reward, done, {}
def reset(self):
self.state = [self.np_random.uniform(low=-0.5, high=0.5),
self.np_random.uniform(low=-self.theta_threshold_radians, high=self.theta_threshold_radians),
0,
0]
self.steps_beyond_done = None
self.reward_count = 0
return np.array(self.state).reshape(4,)
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