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< h1 > PD Control Gain Tuning Example< a class = "headerlink" href = "#pd-control-gain-tuning-example" title = "Permalink to this heading" > < / a > < / h1 >
< div class = "highlight-python notranslate" > < div class = "highlight" > < pre > < span > < / span > < span class = "linenos" > 1< / span > < span class = "kn" > from< / span > < span class = "nn" > collections< / span > < span class = "kn" > import< / span > < span class = "n" > OrderedDict< / span >
< span class = "linenos" > 2< / span >
< span class = "linenos" > 3< / span > < span class = "kn" > import< / span > < span class = "nn" > numpy< / span > < span class = "k" > as< / span > < span class = "nn" > np< / span >
< span class = "linenos" > 4< / span > < span class = "kn" > from< / span > < span class = "nn" > matplotlib< / span > < span class = "kn" > import< / span > < span class = "n" > pyplot< / span > < span class = "k" > as< / span > < span class = "n" > plt< / span >
< span class = "linenos" > 5< / span >
< span class = "linenos" > 6< / span > < span class = "kn" > import< / span > < span class = "nn" > gymnasium< / span > < span class = "k" > as< / span > < span class = "nn" > gym< / span >
< span class = "linenos" > 7< / span > < span class = "kn" > import< / span > < span class = "nn" > fancy_gym< / span >
< span class = "linenos" > 8< / span >
< span class = "linenos" > 9< / span > < span class = "c1" > # This might work for some environments, however, please verify either way the correct trajectory information< / span >
< span class = "linenos" > 10< / span > < span class = "c1" > # for your environment are extracted below< / span >
< span class = "linenos" > 11< / span > < span class = "n" > SEED< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span >
< span class = "linenos" > 12< / span >
< span class = "linenos" > 13< / span > < span class = "n" > env_id< / span > < span class = "o" > =< / span > < span class = "s2" > " fancy_ProMP/Reacher5d-v0" < / span >
< span class = "linenos" > 14< / span >
< span class = "linenos" > 15< / span > < span class = "n" > env< / span > < span class = "o" > =< / span > < span class = "n" > fancy_gym< / span > < span class = "o" > .< / span > < span class = "n" > make< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "p" > ,< / span > < span class = "n" > mp_config_override< / span > < span class = "o" > =< / span > < span class = "p" > {< / span > < span class = "s1" > ' controller_kwargs' < / span > < span class = "p" > :< / span > < span class = "p" > {< / span > < span class = "s1" > ' p_gains' < / span > < span class = "p" > :< / span > < span class = "mf" > 0.05< / span > < span class = "p" > ,< / span > < span class = "s1" > ' d_gains' < / span > < span class = "p" > :< / span > < span class = "mf" > 0.05< / span > < span class = "p" > }})< / span > < span class = "o" > .< / span > < span class = "n" > env< / span >
< span class = "linenos" > 16< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > seed< / span > < span class = "p" > (< / span > < span class = "n" > SEED< / span > < span class = "p" > )< / span >
< span class = "linenos" > 17< / span >
< span class = "linenos" > 18< / span > < span class = "c1" > # Plot difference between real trajectory and target MP trajectory< / span >
< span class = "linenos" > 19< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > (< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "n" > SEED< / span > < span class = "p" > )< / span >
< span class = "linenos" > 20< / span > < span class = "n" > w< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > sample< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 21< / span > < span class = "n" > pos< / span > < span class = "p" > ,< / span > < span class = "n" > vel< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > get_trajectory< / span > < span class = "p" > (< / span > < span class = "n" > w< / span > < span class = "p" > )< / span >
< span class = "linenos" > 22< / span >
< span class = "linenos" > 23< / span > < span class = "n" > base_shape< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > shape< / span >
< span class = "linenos" > 24< / span > < span class = "n" > actual_pos< / span > < span class = "o" > =< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > zeros< / span > < span class = "p" > ((< / span > < span class = "nb" > len< / span > < span class = "p" > (< / span > < span class = "n" > pos< / span > < span class = "p" > ),< / span > < span class = "o" > *< / span > < span class = "n" > base_shape< / span > < span class = "p" > ))< / span >
< span class = "linenos" > 25< / span > < span class = "n" > actual_vel< / span > < span class = "o" > =< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > zeros< / span > < span class = "p" > ((< / span > < span class = "nb" > len< / span > < span class = "p" > (< / span > < span class = "n" > pos< / span > < span class = "p" > ),< / span > < span class = "o" > *< / span > < span class = "n" > base_shape< / span > < span class = "p" > ))< / span >
< span class = "linenos" > 26< / span > < span class = "n" > act< / span > < span class = "o" > =< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > zeros< / span > < span class = "p" > ((< / span > < span class = "nb" > len< / span > < span class = "p" > (< / span > < span class = "n" > pos< / span > < span class = "p" > ),< / span > < span class = "o" > *< / span > < span class = "n" > base_shape< / span > < span class = "p" > ))< / span >
< span class = "linenos" > 27< / span >
< span class = "linenos" > 28< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > ion< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 29< / span > < span class = "n" > fig< / span > < span class = "o" > =< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > figure< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 30< / span > < span class = "n" > ax< / span > < span class = "o" > =< / span > < span class = "n" > fig< / span > < span class = "o" > .< / span > < span class = "n" > add_subplot< / span > < span class = "p" > (< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "mi" > 1< / span > < span class = "p" > )< / span >
< span class = "linenos" > 31< / span >
< span class = "linenos" > 32< / span > < span class = "n" > img< / span > < span class = "o" > =< / span > < span class = "n" > ax< / span > < span class = "o" > .< / span > < span class = "n" > imshow< / span > < span class = "p" > (< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > render< / span > < span class = "p" > (< / span > < span class = "n" > mode< / span > < span class = "o" > =< / span > < span class = "s2" > " rgb_array" < / span > < span class = "p" > ))< / span >
< span class = "linenos" > 33< / span > < span class = "n" > fig< / span > < span class = "o" > .< / span > < span class = "n" > show< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 34< / span >
< span class = "linenos" > 35< / span > < span class = "k" > for< / span > < span class = "n" > t< / span > < span class = "p" > ,< / span > < span class = "p" > (< / span > < span class = "n" > des_pos< / span > < span class = "p" > ,< / span > < span class = "n" > des_vel< / span > < span class = "p" > )< / span > < span class = "ow" > in< / span > < span class = "nb" > enumerate< / span > < span class = "p" > (< / span > < span class = "nb" > zip< / span > < span class = "p" > (< / span > < span class = "n" > pos< / span > < span class = "p" > ,< / span > < span class = "n" > vel< / span > < span class = "p" > )):< / span >
< span class = "linenos" > 36< / span > < span class = "n" > actions< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > tracking_controller< / span > < span class = "o" > .< / span > < span class = "n" > get_action< / span > < span class = "p" > (< / span > < span class = "n" > des_pos< / span > < span class = "p" > ,< / span > < span class = "n" > des_vel< / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > current_pos< / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > current_vel< / span > < span class = "p" > )< / span >
< span class = "linenos" > 37< / span > < span class = "n" > actions< / span > < span class = "o" > =< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > clip< / span > < span class = "p" > (< / span > < span class = "n" > actions< / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > low< / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > high< / span > < span class = "p" > )< / span >
< span class = "linenos" > 38< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > step< / span > < span class = "p" > (< / span > < span class = "n" > actions< / span > < span class = "p" > )< / span >
< span class = "linenos" > 39< / span > < span class = "k" > if< / span > < span class = "n" > t< / span > < span class = "o" > %< / span > < span class = "mi" > 15< / span > < span class = "o" > ==< / span > < span class = "mi" > 0< / span > < span class = "p" > :< / span >
< span class = "linenos" > 40< / span > < span class = "n" > img< / span > < span class = "o" > .< / span > < span class = "n" > set_data< / span > < span class = "p" > (< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > render< / span > < span class = "p" > (< / span > < span class = "n" > mode< / span > < span class = "o" > =< / span > < span class = "s2" > " rgb_array" < / span > < span class = "p" > ))< / span >
< span class = "linenos" > 41< / span > < span class = "n" > fig< / span > < span class = "o" > .< / span > < span class = "n" > canvas< / span > < span class = "o" > .< / span > < span class = "n" > draw< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 42< / span > < span class = "n" > fig< / span > < span class = "o" > .< / span > < span class = "n" > canvas< / span > < span class = "o" > .< / span > < span class = "n" > flush_events< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 43< / span > < span class = "n" > act< / span > < span class = "p" > [< / span > < span class = "n" > t< / span > < span class = "p" > ,< / span > < span class = "p" > :]< / span > < span class = "o" > =< / span > < span class = "n" > actions< / span >
< span class = "linenos" > 44< / span > < span class = "c1" > # TODO verify for your environment< / span >
< span class = "linenos" > 45< / span > < span class = "n" > actual_pos< / span > < span class = "p" > [< / span > < span class = "n" > t< / span > < span class = "p" > ,< / span > < span class = "p" > :]< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > current_pos< / span >
< span class = "linenos" > 46< / span > < span class = "n" > actual_vel< / span > < span class = "p" > [< / span > < span class = "n" > t< / span > < span class = "p" > ,< / span > < span class = "p" > :]< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > current_vel< / span >
< span class = "linenos" > 47< / span >
< span class = "linenos" > 48< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > figure< / span > < span class = "p" > (< / span > < span class = "n" > figsize< / span > < span class = "o" > =< / span > < span class = "p" > (< / span > < span class = "mi" > 15< / span > < span class = "p" > ,< / span > < span class = "mi" > 5< / span > < span class = "p" > ))< / span >
< span class = "linenos" > 49< / span >
< span class = "linenos" > 50< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > subplot< / span > < span class = "p" > (< / span > < span class = "mi" > 131< / span > < span class = "p" > )< / span >
< span class = "linenos" > 51< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > title< / span > < span class = "p" > (< / span > < span class = "s2" > " Position" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 52< / span > < span class = "n" > p1< / span > < span class = "o" > =< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > plot< / span > < span class = "p" > (< / span > < span class = "n" > actual_pos< / span > < span class = "p" > ,< / span > < span class = "n" > c< / span > < span class = "o" > =< / span > < span class = "s1" > ' C0' < / span > < span class = "p" > ,< / span > < span class = "n" > label< / span > < span class = "o" > =< / span > < span class = "s2" > " true" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 53< / span > < span class = "n" > p2< / span > < span class = "o" > =< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > plot< / span > < span class = "p" > (< / span > < span class = "n" > pos< / span > < span class = "p" > ,< / span > < span class = "n" > c< / span > < span class = "o" > =< / span > < span class = "s1" > ' C1' < / span > < span class = "p" > ,< / span > < span class = "n" > label< / span > < span class = "o" > =< / span > < span class = "s2" > " MP" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 54< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > xlabel< / span > < span class = "p" > (< / span > < span class = "s2" > " Episode steps" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 55< / span > < span class = "n" > handles< / span > < span class = "p" > ,< / span > < span class = "n" > labels< / span > < span class = "o" > =< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > gca< / span > < span class = "p" > ()< / span > < span class = "o" > .< / span > < span class = "n" > get_legend_handles_labels< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 56< / span >
< span class = "linenos" > 57< / span > < span class = "n" > by_label< / span > < span class = "o" > =< / span > < span class = "n" > OrderedDict< / span > < span class = "p" > (< / span > < span class = "nb" > zip< / span > < span class = "p" > (< / span > < span class = "n" > labels< / span > < span class = "p" > ,< / span > < span class = "n" > handles< / span > < span class = "p" > ))< / span >
< span class = "linenos" > 58< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > legend< / span > < span class = "p" > (< / span > < span class = "n" > by_label< / span > < span class = "o" > .< / span > < span class = "n" > values< / span > < span class = "p" > (),< / span > < span class = "n" > by_label< / span > < span class = "o" > .< / span > < span class = "n" > keys< / span > < span class = "p" > ())< / span >
< span class = "linenos" > 59< / span >
< span class = "linenos" > 60< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > subplot< / span > < span class = "p" > (< / span > < span class = "mi" > 132< / span > < span class = "p" > )< / span >
< span class = "linenos" > 61< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > title< / span > < span class = "p" > (< / span > < span class = "s2" > " Velocity" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 62< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > plot< / span > < span class = "p" > (< / span > < span class = "n" > actual_vel< / span > < span class = "p" > ,< / span > < span class = "n" > c< / span > < span class = "o" > =< / span > < span class = "s1" > ' C0' < / span > < span class = "p" > ,< / span > < span class = "n" > label< / span > < span class = "o" > =< / span > < span class = "s2" > " true" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 63< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > plot< / span > < span class = "p" > (< / span > < span class = "n" > vel< / span > < span class = "p" > ,< / span > < span class = "n" > c< / span > < span class = "o" > =< / span > < span class = "s1" > ' C1' < / span > < span class = "p" > ,< / span > < span class = "n" > label< / span > < span class = "o" > =< / span > < span class = "s2" > " MP" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 64< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > xlabel< / span > < span class = "p" > (< / span > < span class = "s2" > " Episode steps" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 65< / span >
< span class = "linenos" > 66< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > subplot< / span > < span class = "p" > (< / span > < span class = "mi" > 133< / span > < span class = "p" > )< / span >
< span class = "linenos" > 67< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > title< / span > < span class = "p" > (< / span > < span class = "sa" > f< / span > < span class = "s2" > " Actions < / span > < span class = "si" > {< / span > < span class = "n" > np< / span > < span class = "o" > .< / span > < span class = "n" > std< / span > < span class = "p" > (< / span > < span class = "n" > act< / span > < span class = "p" > ,< / span > < span class = "w" > < / span > < span class = "n" > axis< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span > < span class = "p" > )< / span > < span class = "si" > }< / span > < span class = "s2" > " < / span > < span class = "p" > )< / span >
< span class = "linenos" > 68< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > plot< / span > < span class = "p" > (< / span > < span class = "n" > act< / span > < span class = "p" > ,< / span > < span class = "n" > c< / span > < span class = "o" > =< / span > < span class = "s2" > " C0" < / span > < span class = "p" > ),< / span >
< span class = "linenos" > 69< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > xlabel< / span > < span class = "p" > (< / span > < span class = "s2" > " Episode steps" < / span > < span class = "p" > )< / span >
< span class = "linenos" > 70< / span > < span class = "n" > plt< / span > < span class = "o" > .< / span > < span class = "n" > show< / span > < span class = "p" > ()< / span >
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