def get_medium_environment(): """A medium difficulty environment for planning tests with two obstacles, a ball as a target, and a simple human arm. """ obstacles = [ Obstacle([2.5, 0, 2.2], [3.5, 1, 2.5]), Obstacle([3, 2, 1], [4, 2.5, 1.5]) ] ball = Ball([2.5, 2.5, 2.0], 0.25, target=True) q = np.array([0, 0, 0, 0, 0, 0, 0]) robot = simple_human_arm(2.0, 2.0, q, np.array([3.0, 1.0, 0.0])) return Environment(dynamic_objects=[ball], static_objects=obstacles, robot=robot)
def get_hard_environment_v2(): """A very hard difficulty environment for planning tests with three obstacles, a ball as a target, and a simple human arm. """ obstacles = [ Obstacle([2.5, 2.0, 0.0], [4.0, 2.5, 4.0]), Obstacle([1.5, 2.0, 0.0], [2.5, 3.5, 4.0]), Obstacle([3.2, 3.5, 0.0], [5.5, 4.0, 4.0]) ] ball = Ball([2.8, 3.8, 2.0], 0.25, target=True) q = np.array([0, 0, 0, 0, 0, 0, 0]) robot = simple_human_arm(2.0, 2.0, q, np.array([3.0, 3.0, 0.0])) return Environment(dynamic_objects=[ball], static_objects=obstacles, robot=robot)
def get_hard_environment(): """A hard difficulty environment for planning tests with five obstacles, a ball as a target, and a simple human arm. """ obstacles = [ Obstacle([0.0, 2.0, 0.0], [1.5, 2.5, 3.0]), Obstacle([0.0, 4.0, 0.0], [1.5, 4.5, 3.0]), Obstacle([0.0, 2.5, 0.0], [0.5, 4.0, 3.0]), Obstacle([0.0, 2.0, 3.0], [1.5, 4.5, 3.5]), Obstacle([0.5, 2.5, 0.0], [1.5, 4.0, 1.0]) ] ball = Ball([1.0, 3.25, 2.0], 0.5, target=True) q = np.array([0, 0, 0, -np.pi / 2.0, 0, 0, 0]) robot = simple_human_arm(3.0, 2.0, q, np.array([1.0, 1.0, 0.0])) return Environment(dynamic_objects=[ball], static_objects=obstacles, robot=robot)
def get_tutorial_environment(): """Our environment from our documentation tutorial""" # Create an arm with a specific config and base position q0 = np.array([0.5, 0.2, 0, 0.5, 0, 0, 0]) base_pos = np.array([2.0, 2.0, 0.0]) # And link segments of length 2.0 arm = simple_human_arm(2.0, 2.0, q0, base_pos) # We then create a ball, target, and obstacle ball = Ball(position=[2.0, 0.0, 2.0], radius=0.15) target = Target(position=[5.0, 8.0, 2.0], radius=0.5) obstacle = Obstacle([4, 4, 0], [5, 5, 2]) # And use these to create an environment with dimensions 10x10x10 return Environment(dimensions=[10, 10, 10], dynamic_objects=[ball], static_objects=[target, obstacle], robot=arm)