Revamp and check examples; Remove unfinished prototypes

examples/envs/__init__.py

@@ -1,2 +1 @@
-from .arm import PymunkArmEnv # noqa
-from .muscled_hopper import MuscledHopperEnv # noqa
+from .pymunk_arm import PymunkArmEnv # noqa

examples/envs/arm.py → examples/envs/pymunk_arm.py

@@ -5,7 +5,7 @@
 import pymunk.pygame_util
 import numpy as np
 from pygame.locals import (QUIT, KEYDOWN, K_ESCAPE)
-from pymuscle import PotvinFuglevandMuscle as Muscle
+from pymuscle import StandardMuscle as Muscle
 
 
 class PymunkArmEnv(gym.Env):
@@ -24,10 +24,12 @@ def __init__(self, apply_fatigue=False):
         self.brach, self.tricep = self._add_arm()
 
         # Instantiate the PyMuscles
-        brach_motor_unit_count = 100
-        self.brach_muscle = Muscle(brach_motor_unit_count, apply_fatigue)
-        tricep_motor_unit_count = 100
-        self.tricep_muscle = Muscle(tricep_motor_unit_count, apply_fatigue)
+        self.brach_muscle = Muscle(
+            apply_peripheral_fatigue=apply_fatigue
+        )
+        self.tricep_muscle = Muscle(
+            apply_peripheral_fatigue=False  # Tricep never gets tired in this env
+        )
 
         self.frames = 0
 
@@ -150,7 +152,7 @@ def step(self, input_array, step_size, debug=True):
         self._handle_keys()
 
         # Scale input to match the expected range of the muscle sim
-        input_array = np.array(input_array) * 67.0
+        input_array = np.array(input_array)
 
         if debug:
             print(input_array)
@@ -163,12 +165,15 @@ def step(self, input_array, step_size, debug=True):
         brach_output = self.brach_muscle.step(input_array[0], step_size)
         tricep_output = self.tricep_muscle.step(input_array[1], step_size)
 
+        gain = 500
+        self.brach.stiffness = brach_output * gain
+        self.tricep.stiffness = tricep_output * gain
+
         if debug:
             print("Brach Total Output: ", brach_output)
             print("Tricep Total Output: ", tricep_output)
-
-        self.tricep.stiffness = tricep_output
-        self.brach.stiffness = brach_output
+            print("Brach Stiffness: ", self.brach.stiffness)
+            print("Tricep Stiffness: ", self.tricep.stiffness)
 
         hand_location = self.hand_shape.body.local_to_world((170, 0))
         return hand_location

examples/minimal-example.py → examples/minimal-physio-example.py

@@ -6,7 +6,7 @@
 muscle = Muscle(motor_unit_count)
 
 # Set up the simulation parameters
-sim_duration = 60  # seconds
+sim_duration = 200  # seconds
 frames_per_second = 50
 step_size = 1 / frames_per_second
 total_steps = int(sim_duration / step_size)

examples/gym-example.py → examples/pymunk-gym-example.py

@@ -9,22 +9,23 @@
 
 import sys
 import os
-from pymuscle.envs import PymunkArmEnv
+sys.path.insert(0, os.path.abspath(os.path.dirname(__file__)))
+from envs import PymunkArmEnv
 
 
 def main():
     env = PymunkArmEnv(apply_fatigue=True)
 
     # Set up the simulation parameters
-    sim_duration = 60  # seconds
+    sim_duration = 120  # seconds
     frames_per_second = 50
     step_size = 1 / frames_per_second
     total_steps = int(sim_duration / step_size)
 
     # Here we are going to send a constant excitation to the tricep and
     # vary the excitation of the bicep as we try to hit a target location.
     brachialis_input = 0.4  # Percent of max input
-    tricep_input = 0.6
+    tricep_input = 0.2
     hand_target_y = 360
     target_delta = 10
     # Hand tuned PID params.
@@ -58,6 +59,8 @@ def main():
 
         if brachialis_input > 1.0:
             brachialis_input = 1.0
+        if brachialis_input < 0.0:
+            brachialis_input = 0.0
 
         # Vary our set point and display the excitation required
         if i % frames_per_second == 0: