def __init__(self, headless=False):
self.venv = venv = vrepper(headless=headless)
venv.start()
venv.load_scene(os.getcwd() + '/scenes/cart_pole.ttt')
self.slider = venv.get_object_by_name('slider')
self.cart = venv.get_object_by_name('cart')
self.mass = venv.get_object_by_name('mass')
print('(CartPoleVREP) initialized')
obs = np.array([np.inf] * 6)
act = np.array([1.])
self.action_space = spaces.Box(-act, act)
self.observation_space = spaces.Box(-obs, obs)
def __init__(self, headless=False, use_xbox=False, max_step=200):
self.agent_positions = []
if VEHICLE_NAME == "Pioneer_p3dx":
global VEHICLE_NAME, R_MOTOR_NAME, L_MOTOR_NAME, R_WHEEL_NAME, L_WHEEL_NAME
elif VEHICLE_NAME == "Manta#0":
MOTOR_NAME, STEERING_NAME
self.venv = venv = vrepper(headless=headless)
venv.start()
venv.load_scene(os.getcwd() + SCENE_PATH)
if VEHICLE_NAME == "Pioneer_p3dx":
self.car = venv.get_object_by_name(VEHICLE_NAME)
self.r_motor = venv.get_object_by_name(R_MOTOR_NAME)
self.l_motor = venv.get_object_by_name(L_MOTOR_NAME)
self.r_wheel = venv.get_object_by_name(R_WHEEL_NAME)
self.l_wheel = venv.get_object_by_name(L_WHEEL_NAME)
elif VEHICLE_NAME == "Manta#0":
self.veichle_object = venv.get_object_by_name(VEHICLE_NAME)
self.car = venv.get_object_by_name("body_dummy#0")
self.motor = venv.get_object_by_name(MOTOR_NAME)
self.steering = venv.get_object_by_name(STEERING_NAME)
self.end_point = venv.get_object_by_name('End')
self.paths = self._load_path()
self.n_paths = len(self.paths)
self.current_path = np.random.randint(0, self.n_paths)
self.path = self.paths[self.current_path]
print("Current_path: {}".format(self.current_path))
self.n_path_elements = np.zeros(self.n_paths)
for i in range(self.n_paths):
self.n_path_elements[i] = self.paths[i].shape[0]
self.path_progress = 0
print('(PathFollowEnv) initialized')
obs = np.array([np.inf] * 4)
act = np.array([1.] * 1)
self.action_space = spaces.Box(-act, act)
self.observation_space = spaces.Box(-obs, obs)
self.step_count = 0
self._max_episode_steps = max_step
self.use_xbox = use_xbox
if use_xbox:
self.joystick = ControllerResource()
def __init__(self,headless=False):
self.venv = venv = vrepper(headless=headless)
venv.start()
venv.load_scene(
os.getcwd() + '/scenes/cart_pole.ttt')
self.slider = venv.get_object_by_name('slider')
self.cart = venv.get_object_by_name('cart')
self.mass = venv.get_object_by_name('mass')
print('(CartPoleVREP) initialized')
obs = np.array([np.inf]*6)
act = np.array([1.])
self.action_space = spaces.Box(-act,act)
self.observation_space = spaces.Box(-obs,obs)