public Reward_observation_terminal env_step(Action theAction) {
// Bail if we're terminal
boolean terminal = taskTracker.isTerminal();
if (terminal) {
currentState = envSimulator.getODEState();
return makeRewardObservation(0.0, terminal);
}
// BT: This code is expecting a double array called action, I'll give it to them
double[] action = theAction.doubleArray;
List<Compartment> compartments = arm.getCompartments();
/* guard against oversized or undersized action arrays */
if (useDiscreteActions) {
int theDiscreteAction = theAction.intArray[0];
action = new double[2 + compartments.size() * 3];
handleIntAction(theDiscreteAction, compartments.size(), action);
}
double actionSum = 0.0d;
for (int i = 0; i < action.length; i++) {
actionSum += action[i];
}
ArmBase base = arm.getBase();
base.setAction(action[0], action[1]);
for (int i = 0; i < compartments.size(); i++) {
compartments
.get(i)
.setAction(action[2 + 3 * i], action[2 + 3 * i + 1], action[2 + 3 * i + 2]);
}
ODEState odeState = envSimulator.getODEState();
double timeStep = .2;
odeState = solver.solve(envSimulator.asEquation(), odeState, 0, 5, timeStep);
envSimulator.setODEState(odeState);
currentState = odeState;
taskTracker.update();
terminal = taskTracker.isTerminal();
for (EnvironmentObserver o : observers) {
o.stateChanged(taskTracker.getReward());
if (terminal) {
o.episodeFinished();
}
}
double reward = taskTracker.getReward() - actionSum / (double) action.length;
// want to add a small penality for actions;
return makeRewardObservation(reward, terminal);
}