quanser-sim's Introduction

Quanser Qube - Servo2 sim

For more information about the Qube click here

Simulator structure

├── README.md
├── render_qube.py
├── qube_simulator.py
└── requirements.txt

reset_down()

Info:

Reset starts the pendulum from the bottom (at rest).
The task is to flip up the pendulum and hold it upright.
Episode ends once the theta angle is greater than 90 degrees.
Reward should be a function of the angles theta (arm angle) and alpha (pendulum), and the alpha angular velocity.
- Encourages the the arm to stay centered, the pendulum to stay upright, and to stay stationary.

reset_up()

Info:

Reset starts the pendulum from the top (flipped up/inverted).
The task is to hold the pendulum upright.
Episode ends once the alpha angle is greater the 20 degrees or theta angle is greater than 90 degrees.
Reward should be a function of the angles theta (arm angle) and alpha (pendulum), and the alpha angular velocity.
- Encourages the the arm to stay centered, the pendulum to stay upright, and to stay stationary.

Action

action = Vm

States

state = [theta, alpha, theta_dot, alpha_dot]

Usage

    qube = QubeSimulator(frequency=250)

    ## LQR benchmark controller gains
    #K = np.array([-2.0, 35.0, -1.5, 3.0])
    
    for episode in range(2):
        # Optional config
        config = {
            # Parameters
            "Lp": 0.129,
            "mp": 0.024,
            # Initial Conditions
            "theta": random.randint(0, 360) * 2 * np.pi / 360,
            "alpha": 0 + np.random.randn() * 0.05, # make sure pi if reset_down
            "theta_dot": 0 + np.random.randn() * 0.05,
            "alpha_dot": 0 + np.random.randn() * 0.05
        }

        print('episode: ', episode)
        state = qube.reset_up(config)
        
        for i in range(2048):
            action = random.uniform(-3, 3)
            #action = K.dot(state)
            state = qube.step(action)
            qube.view()

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