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import gymnasium as gym |
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from gymnasium import spaces |
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import numpy as np |
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CMD_AVANCER = 0 |
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CMD_TOURNER = 1 |
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ETAT_FAIM = 2 |
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ETAT_SOMMEIL = 3 |
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ETAT_HUMEUR = 4 |
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ACTION_ARRETER = 0 |
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ACTION_AVANCER = 1 |
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ACTION_TOURNE_G = 2 |
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ACTION_TOURNE_D = 3 |
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class MiRobotEnv(gym.Env): |
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"""Environnement de simulation pour MiRobot, un chiot robot apprenant |
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à réagir aux commandes du maître et à son état interne. |
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""" |
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metadata = {"render_modes": ["human"], "render_fps": 30} |
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def __init__(self): |
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super(MiRobotEnv, self).__init__() |
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self.action_space = spaces.Discrete(4) |
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low = np.array([0.0, 0.0, 0.0, 0.0, -1.0], dtype=np.float32) |
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high = np.array([1.0, 1.0, 1.0, 1.0, 1.0], dtype=np.float32) |
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self.observation_space = spaces.Box(low=low, high=high, dtype=np.float32) |
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self.state = None |
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def reset(self, seed=None, options=None): |
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super().reset(seed=seed) |
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initial_state = np.array([ |
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0.0, |
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0.0, |
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self.np_random.uniform(low=0.0, high=0.2), |
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self.np_random.uniform(low=0.0, high=0.2), |
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self.np_random.uniform(low=-0.1, high=0.1) |
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], dtype=np.float32) |
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self.state = initial_state |
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info = {} |
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return self.state, info |
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def _update_internal_states(self): |
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self.state[ETAT_FAIM] = np.clip(self.state[ETAT_FAIM] + 0.005, 0.0, 1.0) |
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self.state[ETAT_SOMMEIL] = np.clip(self.state[ETAT_SOMMEIL] + 0.003, 0.0, 1.0) |
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humeur_decay = -0.005 if (self.state[ETAT_FAIM] > 0.5 or self.state[ETAT_SOMMEIL] > 0.5) else 0.001 |
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self.state[ETAT_HUMEUR] = np.clip(self.state[ETAT_HUMEUR] + humeur_decay, -1.0, 1.0) |
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def _calculate_reward(self, action): |
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reward = 0.0 |
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if self.state[CMD_AVANCER] > 0.5: |
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if action == ACTION_AVANCER: |
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reward += 1.0 |
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elif action == ACTION_ARRETER: |
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reward -= 0.5 |
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if self.state[CMD_TOURNER] > 0.5: |
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if action == ACTION_TOURNE_G or action == ACTION_TOURNE_D: |
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reward += 1.0 |
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elif action == ACTION_AVANCER: |
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reward -= 0.5 |
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reward -= self.state[ETAT_FAIM] * 0.1 |
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reward -= self.state[ETAT_SOMMEIL] * 0.1 |
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reward += self.state[ETAT_HUMEUR] * 0.1 |
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return reward |
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def _simulate_user_command(self): |
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if self.np_random.random() < 0.2: |
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self.state[CMD_AVANCER] = 0.0 |
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self.state[CMD_TOURNER] = 0.0 |
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choice = self.np_random.integers(0, 3) |
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if choice == 1: |
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self.state[CMD_AVANCER] = 1.0 |
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elif choice == 2: |
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self.state[CMD_TOURNER] = 1.0 |
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def step(self, action): |
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self._update_internal_states() |
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reward = self._calculate_reward(action) |
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self._simulate_user_command() |
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terminated = False |
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truncated = False |
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info = {} |
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return self.state, reward, terminated, truncated, info |
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def render(self, mode='human'): |
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faim = self.state[ETAT_FAIM] * 100 |
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sommeil = self.state[ETAT_SOMMEIL] * 100 |
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humeur = self.state[ETAT_HUMEUR] |
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cmd_a = "OUI" if self.state[CMD_AVANCER] > 0.5 else "NON" |
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cmd_t = "OUI" if self.state[CMD_TOURNER] > 0.5 else "NON" |
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print(f"--- État MiRobot ---") |
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print(f" > Commande Avancer: {cmd_a}, Commande Tourner: {cmd_t}") |
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print(f" > Faim: {faim:.0f}%, Sommeil: {sommeil:.0f}%") |
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print(f" > Humeur: {humeur:.2f} (entre -1.0 et 1.0)") |
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def close(self): |
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pass |
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