def init(self): """Initialize environment.""" self.x0 = np.asarray(self.x0) self.g = np.asarray(self.g) self.n_task_dims = self.x0.shape[0] self.logger = get_logger(self, self.log_to_file, self.log_to_stdout) n_steps = 1 + int(self.execution_time / self.dt) self.X = np.empty((n_steps, self.n_task_dims)) self.xd = np.empty(self.n_task_dims) self.xdd = np.empty(self.n_task_dims) self.tm = UrdfTransformManager() self.tm.load_urdf(open("../data/kuka_lbr.urdf", "r")) self.sphere_pos = np.array([0.6, 0.0, 1.0]) self.pendulum_radius = 0.5 self.sphere_radius = 0.1 # We set the target so that the trajectory has to be modified # significantly. It has to hit the pendulum from another direction. self.target_pos = np.array([ 0.6 + self.pendulum_radius * np.cos(0.6 * np.pi), self.pendulum_radius * np.sin(0.6 * np.pi), 1.5 ]) self.pendulum_mass = 1.0 self.ee_mass = 30.0
def init(self): self.x0 = np.asarray(self.x0) self.logger = get_logger(self, self.log_to_file, self.log_to_stdout) self.n_steps = 1 + int(self.execution_time / self.dt) self.n_joints = self.ik.get_n_joints() self.P = np.empty((self.n_steps, 7)) self.Q = np.empty((self.n_steps, self.n_joints)) self.p = np.empty(7) self.q = np.empty(self.n_joints)
def init(self): """Initialize environment.""" self.x0 = np.asarray(self.x0) self.g = np.asarray(self.g) self.n_task_dims = self.x0.shape[0] self.logger = get_logger(self, self.log_to_file, self.log_to_stdout) n_steps = 1 + int(self.execution_time / self.dt) self.X = np.empty((n_steps, self.n_task_dims)) self.Xd = np.empty((n_steps, self.n_task_dims)) self.Xdd = np.empty((n_steps, self.n_task_dims))