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);
}
public TaskDescription getTaskSpec() {
int numCompartments = arm.getCompartments().size();
int numFood = allFood.size();
int numStateVars = 2 + 4 * (2 * numCompartments + numFood);
int numActionVars = 3 * numCompartments;
return new TaskDescription(numStateVars, numActionVars);
}
private String makeTaskSpec() {
double minXPos = -12.0d;
double maxXPos = 12.0d;
double minYPos = -12.0d;
double maxYPos = 6.0d;
double minVel = -1.0d;
double maxVel = 1.0d;
double minAction = 0.0d;
double maxAction = 1.0d;
TaskDescription ts = getTaskSpec();
TaskSpecVRLGLUE3 theTaskSpecObject = new TaskSpecVRLGLUE3();
theTaskSpecObject.setEpisodic();
theTaskSpecObject.setDiscountFactor(1.0d);
// Angle of the arm
theTaskSpecObject.addContinuousObservation(new DoubleRange(-4.0d * Math.PI, 4.0d * Math.PI));
// Angular Velocity
theTaskSpecObject.addContinuousObservation(new DoubleRange(-1.0d, 1.0d));
// Now we want to add the variable for all the compartments
for (int i = 0; i < 4 * (2 * arm.getCompartments().size() + allFood.size()); i++) {
if (i % 4 == 0) {
theTaskSpecObject.addContinuousObservation(new DoubleRange(minXPos, maxXPos));
}
if (i % 4 == 1) {
theTaskSpecObject.addContinuousObservation(new DoubleRange(minYPos, maxYPos));
}
if (i % 4 == 2 || i % 4 == 3) {
theTaskSpecObject.addContinuousObservation(new DoubleRange(minVel, maxVel));
}
}
int NDA = 8;
if (useDiscreteActions) {
theTaskSpecObject.addDiscreteAction(new IntRange(0, NDA - 1));
} else {
theTaskSpecObject.addContinuousAction(
(new DoubleRange(minAction, maxAction, ts.getNumActionVariables())));
}
theTaskSpecObject.setRewardRange(new DoubleRange(-1, 20));
String newTaskSpecString = theTaskSpecObject.toTaskSpec();
TaskSpec.checkTaskSpec(newTaskSpecString);
return newTaskSpecString;
}
public String env_message(String theMessage) {
EnvironmentMessages theMessageObject;
try {
theMessageObject = EnvironmentMessageParser.parseMessage(theMessage);
} catch (NotAnRLVizMessageException e) {
System.err.println("Someone sent Octopus a message that wasn't RL-Viz compatible");
return "I only respond to RL-Viz messages!";
}
if (theMessageObject.canHandleAutomatically(this)) {
String theResponseString = theMessageObject.handleAutomatically(this);
return theResponseString;
}
// If it wasn't handled automatically, maybe its a custom Mountain Car Message
if (theMessageObject.getTheMessageType()
== rlVizLib.messaging.environment.EnvMessageType.kEnvCustom.id()) {
String theCustomType = theMessageObject.getPayLoad();
AbstractResponse theResponse = null;
if (theCustomType.equals("GETOCTSTATE")) {
theResponse = new OctopusStateResponse(arm.getCompartments());
}
if (theCustomType.equals("GETOCTCOREDATA")) {
theResponse = new OctopusCoreDataResponse(targets, Constants.get().getSurfaceLevel());
}
if (theResponse != null) {
return theResponse.makeStringResponse();
}
}
System.err.println(
"We need some code written in Env Message for Octopus.. unknown request received: "
+ theMessage);
Thread.dumpStack();
return null;
}
