def __init__(self, scene_name, reward_dense, boundary):
self.pr = PyRep()
SCENE_FILE = join(dirname(abspath(__file__)), scene_name)
self.pr.launch(SCENE_FILE, headless=True)
self.pr.start()
self.pr.set_simulation_timestep(0.05)
if scene_name != 'robot_scene.ttt': #youbot_navig2
home_dir = os.path.expanduser('~')
os.chdir(join(home_dir, 'robotics_drl'))
self.pr.import_model('robot.ttm')
# Vision sensor handles
self.camera_top = VisionSensor('Vision_sensor')
# self.camera_top.set_render_mode(RenderMode.OPENGL3)
# self.camera_top.set_resolution([256,256])
self.camera_arm = VisionSensor('Vision_sensor1')
self.camera_arm.set_render_mode(RenderMode.OPENGL3)
self.camera_arm.set_resolution([256, 256])
self.reward_dense = reward_dense
self.reward_termination = 1 if self.reward_dense else 0
self.boundary = boundary
# Robot links
robot_links = []
links_size = [3, 5, 5, 1]
for i in range(len(links_size)):
robot_links.append(
[Shape('link%s_%s' % (i, j)) for j in range(links_size[i])])
links_color = [[0, 0, 1], [0, 1, 0], [1, 0, 0]]
color_i = 0
for j in robot_links:
if color_i > 2:
color_i = 0
for i in j:
i.remove_texture()
i.set_color(links_color[color_i])
color_i += 1
def __init__(self, not_render):
super(Environment, self).__init__()
self.controller = PyRep()
scene_file = join(dirname(abspath(__file__)),'scene/scene_reinforcement_learning_env.ttt')
self.controller.launch(scene_file, headless=not_render)
self.actuator = Panda()
self.actuator.set_control_loop_enabled(False)
self.actuator.set_motor_locked_at_zero_velocity(True)
self.top_camera = VisionSensor('Vision_TOP')
self.side_camera = VisionSensor('Vision_SIDE')
self.front_camera = VisionSensor('Vision_FRONT')
self.target = Shape('target')
self.target_initial_pos = self.target.get_position()
self.start_sim()
self.actuator_tip = self.actuator.get_tip()
self.actuator_initial_position = self.actuator.get_joint_positions()
self.POS_MIN = [0.8, -0.2, 1.0]
self.POS_MAX = [1.0, 0.2, 1.4]
