def __init__(self):
self._seed()
self.viewer = None # to be used later for rendering
self.target_pos = None
membrane_base.init_helper(self)
self.object = None
# Drawlist for rendering
self.drawlist = []
self.prev_state = None
# Observation Space
# [object posx, object posy, actuator1 pos.y, ... , actuator5 pos.y, actuator1 speed.y, ... , actuator5 speed.y]
high = np.array([np.inf] * 16)
self.observation_space = spaces.Box(low=-high, high=high)
# Continuous action space; one for each linear actuator (5 total)
# action space represents velocity
self.action_space = spaces.Box(-1, 1, (5, ))
self.prev_shaping = None # for reward calculation
self.pd_control_list = []
self._reset()
def __init__(self):
self._seed()
self.viewer = None # to be used later for rendering
# Object to be manipulated
self.object = None
# Initializing other common components in the environment
membrane_base.init_helper(self)
self.prev_state = None
# Observation Space
high = np.array([np.inf] * 15)
self.observation_space = spaces.Box(low=-high, high=high)
# Continuous action space; one for each linear actuator (5 total)
# action space represents velocity
self.action_space = spaces.Box(-1, 1, (5, ))
self.prev_shaping = None # for reward calculation
self._reset()