| import numpy as np |
| JOINT_DIM=15 |
| NF=13 |
| def public_features(cfg,mo,sim): |
| n=cfg['n'];j=np.zeros((JOINT_DIM,NF),np.float32);mask=np.zeros(JOINT_DIM,np.float32) |
| qs=np.asarray(mo['q_start']);qe=np.asarray(mo['q_end']);lengths=np.asarray(cfg['coms'])[:,0]*2 |
| for i in range(n): |
| |
| j[i]=[np.log1p(sim['torque_rms_Nm'][i]),np.log1p(sim['torque_max_Nm'][i]), |
| sim['velocity_rms_rad_s'][i],sim['mean_abs_velocity_rad_s'][i], |
| np.log1p(sim['torque_work_J'][i]),np.log1p(sim['torque_rms_sq_Nm2'][i]), |
| np.log1p(cfg['mass'][i]),lengths[i], abs(qe[i]-qs[i]), |
| cfg['parents'][i]/15.,float(cfg['arm_id'][i]==1),float(cfg['arm_id'][i]==2), |
| float(cfg['axes'][i][2])] |
| mask[:n]=1. |
| g=np.asarray([n/15.,float(cfg['topology']=='dual'),float(cfg['topology']=='torso_dual'), |
| np.log1p(mo['payload_kg']),mo['speed_factor'],mo['dwell_s'], |
| np.log1p(sim['nominal_time_s']),np.log1p(sim['nominal_energy_Wh']), |
| np.log1p(sim['nominal_positive_J']),np.log1p(sim['nominal_regen_J']), |
| np.log1p(sim['nominal_copper_J']),np.log1p(sim['nominal_idle_J']), |
| np.log1p(sim['nominal_aux_J'])],np.float32) |
| return j,mask,g |
|
|
|
|
