def __init__(self, name, z_pos=0.3089):
self._handle = sim.simGetObjectHandle(name)
self.motorHandles = []
self.motorHandles.append(
sim.simGetObjectHandle('joint_front_left_wheel'))
self.motorHandles.append(
sim.simGetObjectHandle('joint_front_right_wheel'))
self.motorHandles.append(
sim.simGetObjectHandle('joint_back_left_wheel'))
self.motorHandles.append(
sim.simGetObjectHandle('joint_back_right_wheel'))
self.joint_force = 10
sim.simSetJointForce(self.motorHandles[0], self.joint_force)
sim.simSetJointForce(self.motorHandles[1], self.joint_force)
sim.simSetJointForce(self.motorHandles[2], self.joint_force)
sim.simSetJointForce(self.motorHandles[3], self.joint_force)
# self.robot_collection_handle = lib.simCreateCollection(b'nikbot',b'1')
# lib.simAddObjectToCollection(self.robot_collection_handle,self._handle,b'1',b'00')
# self.robot_collection_handle = sim.simGetCollectionHandle('nikbot')
self.z_pos = z_pos
self.wheel_distance = 0.38578
self.wheel_radius = 0.23485
def exists(name: str) -> bool:
"""Checks if the given object is in the scene.
:param id: name/id of object. If the name is appended by a "@alt"
suffix, then the object handle based on the object's alternative
name will be retrieved.
:return: True of the object exists.
"""
try:
sim.simGetObjectHandle(name)
except:
return False
return True
def _create_object(self, name):
"""Creates pyrep object for the correct type"""
# TODO implement other types
handle = sim.simGetObjectHandle(name)
o_type = sim.simGetObjectType(handle)
if ObjectType(o_type) == ObjectType.JOINT:
return Joint(handle)
elif ObjectType(o_type) == ObjectType.SHAPE:
return Shape(handle)
else:
return None
def __init__(self, name_or_handle: Union[str, int]):
if isinstance(name_or_handle, int):
self._handle = name_or_handle
else:
self._handle = sim.simGetObjectHandle(name_or_handle)
assert_type = self._get_requested_type()
actual = ObjectType(sim.simGetObjectType(self._handle))
if actual != assert_type:
raise WrongObjectTypeError(
'You requested object of type %s, but the actual type was '
'%s' % (assert_type.name, actual.name))
def __init__(self, scene: str = "room.ttt", dt: float = 0.05):
"""A class constructor.
Args:
dt: Delta time of simulation.
"""
super(NavigationEnv, self).__init__(scene=scene, dt=dt, headless_mode=False)
self._goal_threshold = 0.05
self._collision_dist = 0.05
self._robot = SmartBot(enable_vision=self.enable_vision)
self._obstacles = sim.simGetObjectHandle("Obstacles_visual")
self._navigation = self.navigation_type(self._robot, dt)
self._goal = Dummy.create(size=0.1)
self._goal.set_renderable(True)
self._goal.set_name("Goal")
max_linear_vel = (
self._robot.wheel_radius * 2 * self._robot.velocity_limit[1] / 2
)
max_angular_vel = (
self._robot.wheel_radius
/ self._robot.wheel_distance
* np.diff(self._robot.velocity_limit)
)[0]
self.action_space = spaces.Box(
*self._robot.velocity_limit,
shape=self._robot.velocity_limit.shape,
dtype="float32"
)
low = self._get_lower_observation(max_angular_vel)
high = self._get_upper_observation(max_linear_vel, max_angular_vel)
if self.enable_vision:
self.observation_space = spaces.Dict(
dict(
image=spaces.Box(
low=0, high=255, shape=self._robot.image.shape, dtype=np.uint8
),
scalars=spaces.Box(low=low, high=high, dtype=np.float32),
)
)
else:
self.observation_space = spaces.Box(low=low, high=high, dtype=np.float32)
def get_object_type(name: str) -> ObjectType:
"""Gets the type of the object.
:return: Type of the object.
"""
return ObjectType(sim.simGetObjectType(sim.simGetObjectHandle(name)))
