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))