Feature/qube servo 3 support

config.yaml

@@ -0,0 +1,36 @@
+#config that can be used to store hardware-specific information.
+qube_servo2_usb:
+  board_type: "qube_servo2_usb"
+  max_voltage: 18.0
+  # Motor
+  Rm: 8.4 # Motor resistance (Ohm)
+  kt: 0.042 # Current-torque (N-m/A)
+  km: 0.042 # Back-emf constant (V-s/rad)
+  # Rotary Arm
+  mr: 0.095 # Mass (kg)
+  Lr: 0.085 # Total Length (m)
+  Dr: 0.00027  # Equivalent viscous damping coefficient (N-m-s/rad)
+  # Pendulum Link
+  mp: 0.024  # Mass (kg)
+  Lp: 0.129  # Total length (m)
+  Dp: 0.00005  # Equivalent viscous damping coefficient (N-m-s/rad)
+  #Environmental Parameters
+  g: 9.81  # Gravity (m/s^2)
+
+qube_servo3_usb:
+  board_type: "qube_servo3_usb"
+  max_voltage: 24.0
+  # Motor
+  Rm: 7.5 # Motor resistance (Ohm)
+  kt: 0.042 # Current-torque (N-m/A)
+  km: 0.042 # Back-emf constant (V-s/rad)
+  # Rotary Arm
+  mr: 0.095 # Mass (kg)
+  Lr: 0.085 # Total Length (m)
+  Dr: 0.00027  # Equivalent viscous damping coefficient (N-m-s/rad)
+  # Pendulum Link
+  mp: 0.024  # Mass (kg)
+  Lp: 0.129  # Total length (m)
+  Dp: 0.00005  # Equivalent viscous damping coefficient (N-m-s/rad)
+  #Environmental Parameters
+  g: 9.81  # Gravity (m/s^2)

gym_brt/envs/qube_base_env.py

@@ -18,9 +18,10 @@
 
 from gym_brt.quanser import QubeSimulator
 from gym_brt.envs.rendering import QubeRenderer
+from load_config import load_config
 
 
-MAX_MOTOR_VOLTAGE = 3
+MAX_MOTOR_VOLTAGE = load_config()['max_voltage'] #TODO: make this dynamic based on hardware environment variable
 ACT_MAX = np.asarray([MAX_MOTOR_VOLTAGE], dtype=np.float64)
 # OBS_MAX = [theta, alpha, theta_dot, alpha_dot]
 OBS_MAX = np.asarray([np.pi / 2, np.pi, np.inf, np.inf], dtype=np.float64)