def __init__(self,
mps_left: Sequence[dict],
mps_right: Sequence[dict],
continuous_rew_fcn: bool = True,
**kwargs):
"""
Constructor
:param mps_left: left arm's movement primitives holding the dynamical systems and the goal states
:param mps_right: right arm's movement primitives holding the dynamical systems and the goal states
:param continuous_rew_fcn: specify if the continuous or an uninformative reward function should be used
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
checkJointLimits: bool = False,
collisionAvoidanceIK: bool = True,
observeCollisionCost: bool = True,
observePredictedCollisionCost: bool = False,
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor
RcsSim.__init__(self,
envType='TargetTracking',
task_args=dict(continuous_rew_fcn=continuous_rew_fcn,
mps_left=mps_left,
mps_right=mps_right),
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH,
'TargetTracking'),
tasksLeft=mps_left,
tasksRight=mps_right,
**kwargs)
def __init__(self, task_args: [dict, None] = None, max_dist_force: [float, None] = None, **kwargs):
"""
Constructor
:param task_args: arguments for the task construction, pass `None` to use default values
state_des: 4-dim np.ndarray
Q: 4x4-dim np.ndarray
R: 4x4-dim np.ndarray
:param max_dist_force: maximum disturbance force, pass `None` for no disturbance
:param kwargs: keyword arguments forwarded to the RcsSim
"""
Serializable._init(self, locals())
# Forward to RcsSim's constructor
RcsSim.__init__(
self,
envType="QuanserQube",
task_args=task_args if task_args is not None else dict(),
graphFileName="gQuanserQube_trqCtrl.xml",
physicsConfigFile="pQuanserQube.xml",
actionModelType="joint_acc",
**kwargs,
)
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
task_args: dict,
ref_frame: str,
position_mps: bool,
mps_left: [Sequence[dict], None],
fixed_init_state: bool = False,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param ref_frame: reference frame for the MPs, e.g. 'world', 'box', or 'upperGoal'
:param mps_left: left arm's movement primitives holding the dynamical systems and the goal states
:param position_mps: `True` if the MPs are defined on position level, `False` if defined on velocity level
:param fixed_init_state: use an init state space with only one state (e.g. for debugging)
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
taskCombinationMethod: str = 'mean', # 'sum', 'mean', 'product', or 'softmax'
checkJointLimits: bool = False,
collisionAvoidanceIK: bool = True,
observeVelocities: bool = True,
observeCollisionCost: bool = True,
observePredictedCollisionCost: bool = False,
observeManipulabilityIndex: bool = False,
observeCurrentManipulability: bool = True,
observeDynamicalSystemDiscrepancy: bool = False,
observeTaskSpaceDiscrepancy: bool = True,
observeForceTorque: bool = True
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor
RcsSim.__init__(
self,
envType='BoxShelving',
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH, 'BoxShelving'),
hudColor='BLACK_RUBBER',
task_args=task_args,
refFrame=ref_frame,
positionTasks=position_mps,
tasksLeft=mps_left,
**kwargs
)
# Initial state space definition
if fixed_init_state:
dafault_init_state = np.array([0., 0., 0., 0.8, 30.*np.pi/180, 90.*np.pi/180]) # [m, m, rad, m, rad, rad]
self._init_space = SingularStateSpace(dafault_init_state,
labels=['$x$', '$y$', '$th$', '$z$', '$q_2$', '$q_4$'])
else:
min_init_state = np.array([-0.02, -0.02, -3.*np.pi/180., 0.78, 27.*np.pi/180, 77.*np.pi/180])
max_init_state = np.array([0.02, 0.02, 3.*np.pi/180., 0.82, 33.*np.pi/180, 83.*np.pi/180])
self._init_space = BoxSpace(min_init_state, max_init_state, # [m, m, rad, m, rad, rad]
labels=['$x$', '$y$', '$th$', '$z$', '$q_2$', '$q_4$'])
def __init__(self,
task_args: dict,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, pass `None` for no disturbance
:param kwargs: keyword arguments forwarded to `RcsSim`
fixedInitState: bool = True,
collisionConfig: specification of the Rcs CollisionModel
"""
Serializable._init(self, locals())
if kwargs.get("collisionConfig", None) is None:
collision_config = {
"pairs": [
{
"body1": "Effector",
"body2": "Link2"
},
{
"body1": "Effector",
"body2": "Link1"
},
],
"threshold":
0.15,
"predCollHorizon":
20,
}
else:
collision_config = kwargs.get("collisionConfig")
# Forward to RcsSim's constructor
RcsSim.__init__(
self,
envType="Planar3Link",
task_args=task_args,
graphFileName=kwargs.pop(
"graphFileName",
"gPlanar3Link_trqCtrl.xml"), # by default torque control
positionTasks=kwargs.pop(
"positionTasks", None
), # invalid default value, positionTasks can be unnecessary
collisionConfig=collision_config,
**kwargs,
)
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
task_args: dict,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, pass `None` for no disturbance
:param kwargs: keyword arguments forwarded to `RcsSim`
fixedInitState: bool = True,
collisionConfig: specification of the Rcs CollisionModel
"""
Serializable._init(self, locals())
if kwargs.get('collisionConfig', None) is None:
collision_config = {
'pairs': [
{
'body1': 'Effector',
'body2': 'Link2'
},
{
'body1': 'Effector',
'body2': 'Link1'
},
],
'threshold':
0.15,
'predCollHorizon':
20
}
else:
collision_config = kwargs.get('collisionConfig')
# Forward to RcsSim's constructor
RcsSim.__init__(
self,
task_args=task_args,
envType='Planar3Link',
graphFileName=kwargs.pop(
'graphFileName',
'gPlanar3Link_trqCtrl.xml'), # by default torque control
positionTasks=kwargs.pop(
'positionTasks', None
), # invalid default value, positionTasks can be unnecessary
collisionConfig=collision_config,
**kwargs)
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
task_args: dict,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, set to None (default) for no disturbance
:param kwargs: keyword arguments forwarded to `RcsSim`
collisionConfig: specification of the Rcs CollisionModel
"""
Serializable._init(self, locals())
if kwargs.get('collisionConfig', None) is None:
collision_config = {
'pairs': [
{
'body1': 'Effector',
'body2': 'Link2'
},
{
'body1': 'Effector',
'body2': 'Link1'
},
],
'threshold':
0.15,
'predCollHorizon':
20
}
else:
collision_config = kwargs.get('collisionConfig')
# Forward to the RcsSim's constructor, nothing more needs to be done here
RcsSim.__init__(self,
envType='Planar3Link',
graphFileName='gPlanar3Link.xml',
task_args=task_args,
collisionConfig=collision_config,
**kwargs)
# Initial state space definition
upright_init_state = np.array([0.1, 0.1, 0.1]) # [rad, rad, rad]
self._init_space = SingularStateSpace(
upright_init_state, labels=['$q_1$', '$q_2$', '$q_3$'])
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self, task_args: dict, ref_frame: str, position_mps: bool,
mps_left: [Sequence[dict], None], **kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param ref_frame: reference frame for the MPs, e.g. 'world', 'basket', or 'box'
:param position_mps: `True` if the MPs are defined on position level, `False` if defined on velocity level
:param mps_left: left arm's movement primitives holding the dynamical systems and the goal states
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
fixedInitState: bool = False,
taskCombinationMethod: str = 'sum', # or 'mean', 'softmax', 'product'
checkJointLimits: bool = False,
collisionAvoidanceIK: bool = True,
observeVelocities: bool = False,
observeCollisionCost: bool = True,
observePredictedCollisionCost: bool = False,
observeManipulabilityIndex: bool = False,
observeCurrentManipulability: bool = True,
observeDynamicalSystemDiscrepancy: bool = False,
observeTaskSpaceDiscrepancy: bool = True,
observeForceTorque: bool = True
"""
Serializable._init(self, locals())
if kwargs.get('collisionConfig', None) is None:
kwargs.update(
collisionConfig={
'pairs': [
{
'body1': 'Hand',
'body2': 'Table'
},
],
'threshold': 0.07
})
# Forward to the RcsSim's constructor
RcsSim.__init__(self,
task_args=task_args,
envType='BoxLiftingSimple',
physicsConfigFile='pBoxLifting.xml',
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH,
'BoxLifting'),
hudColor='BLACK_RUBBER',
refFrame=ref_frame,
positionTasks=position_mps,
tasksLeft=mps_left,
**kwargs)
def __init__(self, task_args: dict, **kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param relativeZdTask: if `True`, the action model uses a relative velocity task for the striking motion
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
fixedInitState: bool = False,
checkJointLimits: bool = True,
collisionAvoidanceIK: bool = False,
observeVelocities: bool = False,
observeForceTorque: bool = False,
"""
Serializable._init(self, locals())
if kwargs.get("collisionConfig", None) is None:
collision_config = {
"pairs": [
{
"body1": "Club",
"body2": "Ground"
},
],
"threshold": 0.05,
"predCollHorizon": 20,
}
else:
collision_config = kwargs.get("collisionConfig")
# Forward to the RcsSim's constructor
RcsSim.__init__(
self,
envType="MiniGolf",
task_args=task_args,
state_mask_labels=("Ball_X", "Ball_Y", "base-m3", "m3-m4", "m4-m5",
"m5-m6", "m6-m7", "m7-m8", "m8-m9"),
graphFileName="gMiniGolf_FTS.xml" if kwargs.get(
"observeForceTorque", False) else kwargs.pop(
"graphFileName", "gMiniGolf.xml"),
physicsConfigFile=kwargs.pop("physicsConfigFile", "pMiniGolf.xml"),
collisionConfig=collision_config,
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH, "MiniGolf"),
**kwargs,
)
def __init__(self,
task_args: dict,
ref_frame: str,
position_mps: bool,
mps_left: [Sequence[dict], None] = None,
mps_right: [Sequence[dict], None] = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param ref_frame: reference frame for the position and orientation MPs, e.g. 'world', 'table', or 'box'
:param position_mps: `True` if the MPs are defined on position level, `False` if defined on velocity level
:param mps_left: left arm's movement primitives holding the dynamical systems and the goal states
:param mps_right: right arm's movement primitives holding the dynamical systems and the goal states
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
checkJointLimits: bool = False,
collisionAvoidanceIK: bool = True,
observeVelocities: bool = False,
observeCollisionCost: bool = True,
observePredictedCollisionCost: bool = False,
observeManipulabilityIndex: bool = False,
observeCurrentManipulability: bool = True,
observeDynamicalSystemDiscrepancy: bool = False,
observeTaskSpaceDiscrepancy: bool = True,
observeForceTorque: bool = True
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor
RcsSim.__init__(
self,
envType='BoxFlipping',
physicsConfigFile='pBoxFlipping.xml',
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH, 'BoxFlipping'),
hudColor='BLACK_RUBBER',
task_args=task_args,
refFrame=ref_frame,
positionTasks=position_mps,
taskCombinationMethod='sum',
tasksLeft=mps_left,
tasksRight=mps_right,
**kwargs
)
def __init__(self, task_args: dict, ref_frame: str, **kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param ref_frame: reference frame for the MPs, e.g. 'world', or 'table'
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
fixedInitState: bool = False,
taskCombinationMethod: str = 'sum', # or 'mean', 'softmax', 'product'
checkJointLimits: bool = False,
collisionAvoidanceIK: bool = True,
observeVelocities: bool = True,
observeCollisionCost: bool = True,
observePredictedCollisionCost: bool = False,
observeManipulabilityIndex: bool = False,
observeCurrentManipulability: bool = True,
observeDynamicalSystemDiscrepancy: bool = False,
observeTaskSpaceDiscrepancy: bool = True,
observeForceTorque: bool = True
"""
Serializable._init(self, locals())
# collision_config = {
# 'pairs': [
# {'body1': 'Hook_L', 'body2': 'Table'},
# {'body1': 'Hook_L', 'body2': 'Slider'},
# {'body1': 'Hook_L', 'body2': 'Hook_R'},
# ],
# 'threshold': 0.15,
# 'predCollHorizon': 20
# }
# Forward to the RcsSim's constructor
RcsSim.__init__(self,
task_args=task_args,
envType='BallInTube',
physicsConfigFile='pBallInTube.xml',
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH,
'BallInTube'),
collisionConfig={'file': 'collisionModel.xml'},
hudColor='BLACK_RUBBER',
refFrame=ref_frame,
**kwargs)
def reset(self, init_state: np.ndarray = None, domain_param: dict = None) -> np.ndarray:
# Call the parent class
obs = RcsSim.reset(self, init_state, domain_param)
# Apply a initial ball velocity if given
if self._init_ball_vel is not None:
self._impl.applyBallVelocity(self._init_ball_vel)
# We could try to adapt obs here, but it's not really necessary
return obs
def __init__(self,
task_args: dict,
init_ball_vel: np.ndarray = None,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param init_ball_vel: initial ball velocity applied to ball on `reset()`
:param max_dist_force: maximum disturbance force, set to `None` (default) for no disturbance
:param kwargs: keyword arguments forwarded to the `BallOnPlateSim` constructor
"""
if init_ball_vel is not None:
if not init_ball_vel.size() == 2:
raise pyrado.ShapeErr(given=init_ball_vel, expected_match=np.empty(2))
Serializable._init(self, locals())
# Forward to the RcsSim's constructor
RcsSim.__init__(self,
envType='BallOnPlate',
graphFileName='gBotKuka.xml',
physicsConfigFile='pBallOnPlate.xml',
task_args=task_args,
**kwargs)
# Store BallOnPlateSim specific vars
self._init_ball_vel = init_ball_vel
l_plate = 0.5 # [m], see the config XML-file
min_init_state = np.array([0.7*l_plate/2, -np.pi])
max_init_state = np.array([0.8*l_plate/2, np.pi])
self._init_space = Polar2DPosSpace(min_init_state, max_init_state, labels=['$r$', r'$\phi$'])
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
action_model_type: str,
mps: Sequence[dict] = None,
task_args: dict = None,
**kwargs):
"""
Constructor
:param action_model_type: `ds_activation` or `ik_activation`
:param mps: movement primitives holding the dynamical systems and the goal states
:param task_args: arguments for the task construction
:param kwargs: keyword arguments forwarded to `RcsSim`
positionTasks: bool = True,
taskCombinationMethod: str = 'sum', # or 'mean', 'softmax', 'product'
"""
Serializable._init(self, locals())
task_spec_ik = [
dict(x_des=np.array([0.0, 0.0, 0.0])),
dict(x_des=np.array([0.0, 0.0, 0.0])),
dict(x_des=np.array([0.0, 0.0, 0.0])),
dict(x_des=np.array([0.0, 0.0, 0.0])),
]
# Forward to RcsSim's constructor
RcsSim.__init__(
self,
envType="MPBlending",
task_args=task_args,
graphFileName="gMPBlending.xml",
actionModelType=action_model_type,
tasks=mps,
positionTasks=kwargs.pop(
"positionTasks", None
), # invalid default value, positionTasks can be unnecessary
taskSpecIK=task_spec_ik,
**kwargs,
)
def __init__(self,
task_args: dict,
init_ball_vel: np.ndarray = None,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param init_ball_vel: initial ball velocity applied to ball on `reset()`
:param max_dist_force: maximum disturbance force, set to `None` (default) for no disturbance
:param kwargs: keyword arguments forwarded to the `BallOnPlateSim` constructor
"""
if init_ball_vel is not None:
if not init_ball_vel.size() == 2:
raise pyrado.ShapeErr(given=init_ball_vel,
expected_match=np.empty(2))
Serializable._init(self, locals())
# Forward to the RcsSim's constructor
RcsSim.__init__(
self,
envType="BallOnPlate",
task_args=task_args,
graphFileName="gBotKuka.xml",
physicsConfigFile="pBallOnPlate.xml",
**kwargs,
)
# Initial ball velocity
self._init_ball_vel = init_ball_vel
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
state_des: np.ndarray = None,
max_dist_force: float = None,
**kwargs):
"""
Constructor
:param state_des: desired state for the task
:param max_dist_force: maximum disturbance force, set to None (default) for no disturbance
:param kwargs: keyword arguments forwarded to the RcsSim
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor, nothing more needs to be done here
RcsSim.__init__(self,
envType='QuanserQube',
graphFileName='gQuanserQube_trqCtrl.xml',
physicsConfigFile='pQuanserQube.xml',
task_args=dict(state_des=state_des),
**kwargs)
# Store QQubeRcsSim specific vars
max_init_state = np.array([
5. / 180 * np.pi,
3. / 180 * np.pi, # [rad, rad, ...
0.5 / 180 * np.pi,
0.5 / 180 * np.pi
]) # ... rad/s, rad/s]
self._init_space = BoxSpace(-max_init_state,
max_init_state,
labels=[
r'$\theta$', r'$\alpha$',
r'$\dot{\theta}$', r'$\dot{\alpha}$'
])
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self, task_args: dict, ref_frame: str, **kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param ref_frame: reference frame for the MPs, e.g. 'world', 'basket', or 'box'
:param kwargs: keyword arguments which are available for all task-based `RcsSim`
fixedInitState: bool = False,
taskCombinationMethod: str = 'sum', # or 'mean', 'softmax', 'product'
checkJointLimits: bool = True,
collisionAvoidanceIK: bool = True,
observeVelocities: bool = True,
observeCollisionCost: bool = True,
observePredictedCollisionCost: bool = False,
observeManipulabilityIndex: bool = False,
observeCurrentManipulability: bool = True,
observeDynamicalSystemDiscrepancy: bool = False,
observeTaskSpaceDiscrepancy: bool = True,
observeForceTorque: bool = True
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor
RcsSim.__init__(
self,
envType="BoxLifting",
task_args=task_args,
physicsConfigFile="pBoxLifting.xml",
extraConfigDir=osp.join(rcsenv.RCSPYSIM_CONFIG_PATH, "BoxLifting"),
hudColor="BLACK_RUBBER",
refFrame=ref_frame,
**kwargs,
)
def __init__(self,
mps: Sequence[dict] = None,
task_args: dict = None,
max_dist_force: float = None,
position_mps: bool = True,
**kwargs):
"""
Constructor
:param mps: movement primitives holding the dynamical systems and the goal states
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, set to None (default) for no disturbance
:param position_mps: `True` if the MPs are defined on position level, `False` if defined on velocity level,
only matters if `actionModelType='activation'`
:param kwargs: keyword arguments forwarded to `RcsSim`
taskCombinationMethod='sum' # or 'mean' or 'product'
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor, nothing more needs to be done here
RcsSim.__init__(
self,
envType='MPBlending',
task_args=task_args,
actionModelType='activation',
tasks=mps,
positionTasks=position_mps,
**kwargs
)
# Store Planar3Link specific vars
center_init_state = np.array([0., 0.]) # [m]
self._init_space = SingularStateSpace(center_init_state, labels=['$x$', '$y$'])
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
task_args: dict,
collision_config: dict = None,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, pass `None` for no disturbance
:param kwargs: keyword arguments forwarded to `RcsSim`
collisionConfig: specification of the Rcs CollisionModel
"""
Serializable._init(self, locals())
# Forward to RcsSim's constructor
RcsSim.__init__(self,
task_args=task_args,
envType='PlanarInsert',
physicsConfigFile='pPlanarInsert.xml',
collisionConfig=collision_config,
**kwargs)
if kwargs.get('collisionConfig', None) is None:
collision_config = {
'pairs': [
{
'body1': 'Effector',
'body2': 'Link3'
},
{
'body1': 'Effector',
'body2': 'Link2'
},
{
'body1': 'UpperWall',
'body2': 'Link4'
},
{
'body1': 'LowerWall',
'body2': 'Link4'
},
{
'body1': 'LowerWall',
'body2': 'Link3'
},
{
'body1': 'LowerWall',
'body2': 'Link2'
},
],
'threshold':
0.05
}
else:
collision_config = kwargs.get('collisionConfig')
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
task_args: dict,
collision_config: dict = None,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, pass `None` for no disturbance
:param kwargs: keyword arguments forwarded to `RcsSim`
collisionConfig: specification of the Rcs CollisionModel
"""
Serializable._init(self, locals())
# Forward to RcsSim's constructor
RcsSim.__init__(
self,
envType="PlanarInsert",
task_args=task_args,
physicsConfigFile="pPlanarInsert.xml",
collisionConfig=collision_config,
**kwargs,
)
if kwargs.get("collisionConfig", None) is None:
collision_config = {
"pairs": [
{
"body1": "Effector",
"body2": "Link3"
},
{
"body1": "Effector",
"body2": "Link2"
},
{
"body1": "UpperWall",
"body2": "Link4"
},
{
"body1": "LowerWall",
"body2": "Link4"
},
{
"body1": "LowerWall",
"body2": "Link3"
},
{
"body1": "LowerWall",
"body2": "Link2"
},
],
"threshold":
0.05,
}
else:
collision_config = kwargs.get("collisionConfig")
# Setup disturbance
self._max_dist_force = max_dist_force
def __init__(self,
task_args: dict,
collision_config: dict = None,
max_dist_force: float = None,
**kwargs):
"""
Constructor
.. note::
This constructor should only be called via the subclasses.
:param task_args: arguments for the task construction
:param max_dist_force: maximum disturbance force, set to None (default) for no disturbance
:param kwargs: keyword arguments forwarded to `RcsSim`
collisionConfig: specification of the Rcs CollisionModel
"""
Serializable._init(self, locals())
# Forward to the RcsSim's constructor, nothing more needs to be done here
RcsSim.__init__(self,
envType='PlanarInsert',
physicsConfigFile='pPlanarInsert.xml',
task_args=task_args,
collisionConfig=collision_config,
**kwargs)
if kwargs.get('collisionConfig', None) is None:
collision_config = {
'pairs': [
{
'body1': 'Effector',
'body2': 'Link3'
},
{
'body1': 'Effector',
'body2': 'Link2'
},
{
'body1': 'UpperWall',
'body2': 'Link4'
},
{
'body1': 'LowerWall',
'body2': 'Link4'
},
{
'body1': 'LowerWall',
'body2': 'Link3'
},
{
'body1': 'LowerWall',
'body2': 'Link2'
},
],
'threshold':
0.05
}
else:
collision_config = kwargs.get('collisionConfig')
# Initial state space definition
init_state = np.array([-40, 30, 30, 30, -30
]) / 180 * np.pi # [rad, rad, rad]
self._init_space = SingularStateSpace(
init_state, labels=['$q_1$', '$q_2$', '$q_3$', '$q_4$', '$q_5$'])
# Setup disturbance
self._max_dist_force = max_dist_force