def restart_sim(self, ):
"""Restart the simulated Robot Server.
"""
self._kill_sim()
self._start_sim()
self.client = rs_client.Client(self.robot_server_ip)
def __init__(self, rs_address=None, max_episode_steps=1000, **kwargs):
self.ur5 = ur_utils.UR5()
self.max_episode_steps = max_episode_steps
self.elapsed_steps = 0
self.observation_space = self._get_observation_space()
self.action_space = spaces.Box(low=np.full((3), -1.0),
high=np.full((3), 1.0),
dtype=np.float32)
self.seed()
self.distance_threshold = 0.1
self.abs_joint_pos_range = self.ur5.get_max_joint_positions()
self.prev_rs_state = None
self.last_position_on_success = []
# Connect to Robot Server
if rs_address:
self.client = rs_client.Client(rs_address)
else:
print(
"WARNING: No IP and Port passed. Simulation will not be started"
)
print("WARNING: Use this only to get environment shape")
def __init__(self, rs_address=None, max_episode_steps=500, **kwargs):
self.mir100 = mir100_utils.Mir100()
self.max_episode_steps = max_episode_steps
self.elapsed_steps = 0
self.observation_space = self._get_observation_space()
self.action_space = spaces.Box(low=np.full((2), -1.0),
high=np.full((2), 1.0),
dtype=np.float32)
self.seed()
self.distance_threshold = 0.2
self.min_target_dist = 1.0
# Maximum linear velocity (m/s) of MiR
max_lin_vel = 0.5
# Maximum angular velocity (rad/s) of MiR
max_ang_vel = 0.7
self.max_vel = np.array([max_lin_vel, max_ang_vel])
# Connect to Robot Server
if rs_address:
self.client = rs_client.Client(rs_address)
else:
print(
"WARNING: No IP and Port passed. Simulation will not be started"
)
print("WARNING: Use this only to get environment shape")
def __init__(self, rs_address=None, **kwargs):
self.ur10 = ur_utils.UR10()
self.observation_space = self._get_observation_space()
self.action_space = spaces.Box(low=np.full((6), -1.0), high=np.full((6), 1.0), dtype=np.float32)
self.seed()
self.distance_threshold = 0.1
self.abs_joint_pos_range = self.ur10.get_max_joint_positions()
# Connect to Robot Server
if rs_address:
self.client = rs_client.Client(rs_address)
else:
print("WARNING: No IP and Port passed. Simulation will not be started")
print("WARNING: Use this only to get environment shape")
def __init__(self, rs_address=None, rs_state_to_info=True, **kwargs):
self.elapsed_steps = 0
self.rs_state_to_info = rs_state_to_info
self.observation_space = self._get_observation_space()
self.action_space = self._get_action_space()
self.rs_state = None
# Connect to Robot Server
if rs_address:
self.client = rs_client.Client(rs_address)
else:
print(
"WARNING: No IP and Port passed. Simulation will not be started"
)
print("WARNING: Use this only to get environment shape")
def __init__(self,
rs_address=None,
fix_base=False,
fix_shoulder=False,
fix_elbow=False,
fix_wrist_1=False,
fix_wrist_2=False,
fix_wrist_3=True,
ur_model='ur5',
rs_state_to_info=True,
**kwargs):
self.ur = ur_utils.UR(model=ur_model)
self.elapsed_steps = 0
self.rs_state_to_info = rs_state_to_info
self.fix_base = fix_base
self.fix_shoulder = fix_shoulder
self.fix_elbow = fix_elbow
self.fix_wrist_1 = fix_wrist_1
self.fix_wrist_2 = fix_wrist_2
self.fix_wrist_3 = fix_wrist_3
self.observation_space = self._get_observation_space()
self.action_space = self._get_action_space()
self.abs_joint_pos_range = self.ur.get_max_joint_positions()
self.rs_state = None
# Connect to Robot Server
if rs_address:
self.client = rs_client.Client(rs_address)
else:
print(
"WARNING: No IP and Port passed. Simulation will not be started"
)
print("WARNING: Use this only to get environment shape")