In [1]:

    

%load_ext autoreload
%autoreload 2


    

In [2]:

    

import math
import random
import time

from collections import defaultdict


    

In [8]:

    

from tf_rl.simulation import DoublePendulum
from tf_rl import simulate


    

In [9]:

    

DOUBLE_PENDULUM_PARAMS = {
    'g_ms2': 9.8, # acceleration due to gravity, in m/s^2
    'l1_m': 1.0, # length of pendulum 1 in m
    'l2_m': 2.0, # length of pendulum 2 in m
    'm1_kg': 1.0, # mass of pendulum 1 in kg
    'm2_kg': 1.0, # mass of pendulum 2 in kg
    'damping': 0.4,
    'max_control_input': 20.0
}


    

In [10]:

    

d = DoublePendulum(DOUBLE_PENDULUM_PARAMS)


    

In [11]:

    

d.perform_action(0.2)


    

In [13]:

    

try:
    simulate(d, fps=30, actions_per_simulation_second=1, speed=1.0, simulation_resultion=0.01)
except KeyboardInterrupt:
    print("Interrupted")


    

    















    




Interrupted

In [ ]: