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@ -3,15 +3,15 @@ data:
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full_or_relative: relative
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inputs:
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[
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"state_theta",
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"state_alpha",
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"state_theta_dot",
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"state_alpha_dot",
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"theta",
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"alpha",
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"theta_dot",
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"alpha_dot",
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]
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outputs: ["state_theta", "state_alpha", "state_theta_dot", "state_alpha_dot"]
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outputs: ["theta", "alpha", "theta_dot", "alpha_dot"]
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augmented_cols:
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[
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"action_Vm",
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"Vm",
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#"config_Lp,
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#"config_mp",
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#"config_Rm",
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@ -33,6 +33,6 @@ data:
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max_rows: -1
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scale_data: True
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diff_state: False
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concatenated_steps: 5
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concatenated_steps: 3
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concatenated_zero_padding: True
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test_perc: 0.25
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@ -1,6 +1,6 @@
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simulator:
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states: ["state_theta", "state_alpha", "state_theta_dot", "state_alpha_dot"]
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actions: ["action_Vm"]
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states: ["theta", "alpha", "theta_dot", "alpha_dot"]
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actions: ["Vm"]
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configs:
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[
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#"config_Lp",
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@ -30,11 +30,18 @@ simulator:
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#"config_Dr": 0.00027,
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#"config_Dp": 0.00005,
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#"config_frequency": 80,
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'config_initial_theta': 0,
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'config_initial_alpha': 0,
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'config_initial_theta_dot': 0,
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'config_initial_alpha_dot': 0
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}
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#'config_initial_theta': 0,
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#'config_initial_alpha': 0,
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#'config_initial_theta_dot': 0,
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#'config_initial_alpha_dot': 0
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}
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initial_states:
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{
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'theta': 0,
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'alpha': 0,
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'theta_dot': 0,
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'alpha_dot': 0
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}
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policy: bonsai
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logging: enable
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workspace_setup: False
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@ -112,16 +112,13 @@ class Simulator(BaseModel):
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# Edit the config keys and initial state/action keys for a custom example.
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# TODO: A generic state/action to config mapper or other generic design is
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# under development and can replace this requirement.
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initial_state= {
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"ball_x":self.config["initial_x"],
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"ball_y":self.config["initial_y"],
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"ball_vel_x": self.config["initial_vel_x"],
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"ball_vel_y": self.config["initial_vel_y"]
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}
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initial_action= {
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"input_roll": self.config["initial_roll"],
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"input_pitch": self.config["initial_pitch"]
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initial_state = {
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"theta":self.config["config_initial_theta"],
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"alpha":self.config["config_initial_alpha"],
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"theta_dot": self.config["config_initial_theta_dot"],
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"alpha_dot": self.config["config_initial_alpha_dot"]
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}
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initial_action = {k: random.random() for k in self.action_keys}
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elif not config and self.episode_inits:
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logger.info(
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f"No episode initializations provided, using initializations in yaml `episode_inits`"
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