def __init__(self, renderer=True, realtime=True, ip="127.0.0.1", port="21590", buf='16384'):
""" initializes the virtual world, variables, the frame rate and the callback functions."""
print "ODEEnvironment -- based on Open Dynamics Engine."
# initialize base class
GraphicalEnvironment.__init__(self)
if renderer:
self.updateDone = True
self.updateLock = threading.Lock()
self.server = UDPServer(ip, port, buf)
self.render=renderer
self.realtime=realtime
# initialize attributes
self.resetAttributes()
# initialize the textures dictionary
self.textures = {}
# initialize sensor and exclude list
self.sensors = []
self.excludesensors = []
#initialize actuators list
self.actuators = []
# A joint group for the contact joints that are generated whenever two bodies collide
self.contactgroup = ode.JointGroup()
self.dt = 0.01
self.FricMu = 8.0
self.stepsPerAction = 1
self.stepCounter = 0
def __init__(self, dim=1):
GraphicalEnvironment.__init__(self)
self.dim = dim
self.indim = dim
self.outdim = dim
self.noise = None
self.reset()
def __init__(self, randomInitState, x_goal, y_goal):
GraphicalEnvironment.__init__(self)
self.x_goal = x_goal
self.y_goal = y_goal
self.randomInitState = randomInitState
self.reset()
self.actions = [0.0, 0.0]
self._save_wheel_contact_trajectories = False
def __init__(self, polelength = None):
GraphicalEnvironment.__init__(self)
if polelength != None:
self.l = polelength
# initialize the environment (randomly)
self.reset()
self.action = 0.0
self.delay = False
def __init__(self, polelength=None):
GraphicalEnvironment.__init__(self)
if polelength != None:
self.l = polelength
# initialize the environment (randomly)
self.reset()
self.action = 0.0
self.delay = False
def __init__(self, render=True, ip="127.0.0.1", port="21580", numdir=1):
GraphicalEnvironment.__init__(self)
# initialize the environment (randomly)
self.action = [0.0, 0.0]
self.delay = False
self.numdir = numdir # number of directions in which ship starts
self.render=render
if self.render:
self.updateDone=True
self.updateLock=threading.Lock()
self.server=UDPServer(ip, port)
self.reset()
def __init__(self, render=True, ip="127.0.0.1", port="21580", numdir=1):
GraphicalEnvironment.__init__(self)
# initialize the environment (randomly)
self.action = [0.0, 0.0]
self.delay = False
self.numdir = numdir # number of directions in which ship starts
self.render = render
if self.render:
self.updateDone = True
self.updateLock = threading.Lock()
self.server = UDPServer(ip, port)
self.reset()
