def __init__(self, control_noise=0.):
self.control_noise = control_noise
self.seed()
self.world = Box2D.b2World(gravity=(0, 0))
self.pusher = None
self.box = None
# Actions: x-movement, y-movement (clipped -1 to 1)
self.action_space = spaces.Box(np.ones(2) * -1, np.ones(2), dtype=np.float32)
# State: pusher xy position, box xy position, pusher xy velocity, box xy velocity, goal xy position
self.observation_space = spaces.Box(np.ones(10) * MIN_COORD, np.ones(10) * MAX_COORD, dtype=np.float32)
self.reset()
self.drawer = OpencvDrawFuncs(w=240, h=180, ppm=40)
self.drawer.install()
# And a static body to hold the ground shape
ground_body = world.CreateStaticBody(
position=(0, 0),
shapes=polygonShape(box=(50, 1)),
)
# Create a couple dynamic bodies
bodyc = world.CreateDynamicBody(position=(20, 45))
circle = bodyc.CreateCircleFixture(radius=0.5, density=1, friction=0.3)
bodyb = world.CreateDynamicBody(position=(30, 45), angle=15)
box = bodyb.CreatePolygonFixture(box=(2, 1), density=1, friction=0.3)
world.CreateWeldJoint(bodyA=bodyc, bodyB=bodyb, anchor=bodyb.worldCenter)
drawer = OpencvDrawFuncs(w=640, h=480, ppm=20)
drawer.install()
while True:
key = 0xFF & cv2.waitKey(int(TIME_STEP * 1000)) # milliseconds
if key == 27:
break
drawer.clear_screen()
drawer.draw_world(world)
# Make Box2D simulate the physics of our world for one step.
world.Step(TIME_STEP, 10, 10)
# Flip the screen and try to keep at the target FPS
cv2.imshow("world", drawer.screen)