simple_pendulum.controllers.sac
Soft Actor Critic (SAC) Control
Submodules
simple_pendulum.controllers.sac.sac_controller
SAC Controller
- class simple_pendulum.controllers.sac.sac_controller.SacController(model_path, torque_limit, use_symmetry=True, state_representation=2)
Bases:
AbstractControllerController which acts on a policy which has been learned with sac.
- get_control_output(meas_pos, meas_vel, meas_tau=0, meas_time=0)
The function to compute the control input for the pendulum actuator
- Parameters:
- meas_posfloat
the position of the pendulum [rad]
- meas_velfloat
the velocity of the pendulum [rad/s]
- meas_taufloat
the meastured torque of the pendulum [Nm] (not used)
- meas_timefloat
the collapsed time [s] (not used)
- Returns:
- des_posfloat
the desired position of the pendulum [rad] (not used, returns None)
- des_velfloat
the desired velocity of the pendulum [rad/s] (not used, returns None)
- des_taufloat
the torque supposed to be applied by the actuator [Nm]
- get_observation(state)