def __init__(self, name):
self.__name = self.NAME[name%2]
self.__obname = self.NAME[name%2 + 1]
self.viewer = None
high = np.array([1.,1.,1.,1.,1.,1.,1.,1., #8
1.,1.,1.,1.,1.,1.,1., #7
0.,0.,0.,0.,0.,0., #6
0.,0.,0.,0.,0.,0.,0.,0.,0.,#9
0.,0.,0., #2
0.,0.,0.]) #1
#24
low = -1*high
# ox,oy,oz,oa,ob,oc,od,of,
# vx,vy,vz,va,vb,vc,vd,vf
# dis of Link(15)
#
# joint_angle(7),
# limit(1), rate(3)
self.observation_space = spaces.Box(low=low, high=high, dtype=np.float32)
self.action_space = spaces.Discrete(3)
self.act_dim=7
self.obs_dim=39
self.state = []
self.action = []
self.cmd = []
self.point = []
self.goal = []
self.goal_pos = []
self.goal_quat = []
self.goal_phi = 0
self.goal_rpy = []
self.old = []
self.old_pos = []
self.old_quat = []
self.old_phi = 0
self.joint_pos = []
self.joint_angle = []
self.limit = []
self.s_jointpos = []
# self.dis_pos
self.cc = CheckCollision()
self.collision = False
self.range_cnt = 0.8
self.rpy_range = 0.1
self.s_cnt = 0
self.done = True
self.goal_err = 0.08
self.ori_err = 0.24
self.quat_inv = False
self.set_mode_pub = rospy.Publisher(
'/gazebo/set_model_state',
ModelState,
queue_size=1,
latch=True
)
self.seed()
self.reset()
def __init__(self, name):
self.__name = self.NAME[name%2]
self.__obname = self.NAME[name%2 + 1]
self.viewer = None
high = np.array([1.,1.,1.,1.,1.,1.,1.,1., #8
1.,1.,1.,1.,1.,1.,1.,1., #8
0.,0.,0.,0.,0.,0., #6
0.,0.,0.,0.,0.,0.,0.,0.,0.,#9
0.,0.,0.,0.,0.,0.,0., #7
0.]) #1
#42
low = -high
# ox,oy,oz,oa,ob,oc,od,of,
# vx,vy,vz,va,vb,vc,vd,vf
# dis of Link(15)
#
# joint_angle(7),
# limit(1), rate(3)
self.observation_space = spaces.Box(low=low, high=high, dtype=np.float32)
self.action_space = spaces.Discrete(8)
self.state = []
self.action = []
self.cmd = []
self.point = []
self.goal = []
self.goal_pos = []
self.goal_quat = []
self.goal_phi = 0
self.old = []
self.old_pos = []
self.old_quat = []
self.old_phi = 0
self.joint_pos = []
self.joint_angle = []
self.limit = []
self.s_jointpos = []
# self.dis_pos
self.cc = CheckCollision()
self.collision = False
self.range_cnt = 0.1
self.s_cnt = 0
self.seed()
self.reset()
self.done = False
def __init__(self, name, workers):
self.__name = self.NAME[name % 2]
self.__obname = self.NAME[name % 2 + 1]
if workers == 0:
self.workers = 'arm'
else:
self.workers = str(workers)
high = np.array([
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1., #8
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1., #7
0.,
0.,
0.,
0.,
0.,
0., #6
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0., #9
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0., #2
0.,
0.,
0.,
0.,
0.,
0.
]) #1
#24
low = -1 * high
# ox,oy,oz,oa,ob,oc,od,of,
# vx,vy,vz,va,vb,vc,vd,vf
# dis of Link(15)
#
# joint_angle(7),
# limit(1), rate(3)
gym.logger.set_level(40)
self.observation_space = spaces.Box(low=low,
high=high,
dtype=np.float32)
self.action_space = spaces.Discrete(3)
self.act_dim = 8
self.obs_dim = 57 + 24 + 2
self.state = []
self.action = []
self.cmd = []
self.point = []
self.goal = []
self.goal_pos = []
self.goal_quat = []
self.goal_phi = 0
self.goal_rpy = []
self.old = []
self.old_pos = []
self.old_quat = []
self.old_phi = 0
self.joint_pos = []
self.joint_angle = []
self.limit = []
self.s_jointpos = []
# self.dis_pos
self.cc = CheckCollision()
self.collision = False
self.range_cnt = 0.6 #+(workers*0.1)
self.rpy_range = 0.2 * (workers + 1)
self.done = True
self.s_cnt = 0
self.goal_err = 0.06
self.ori_err = 0.3
# self.ori_err = 0.15
self.quat_inv = False
self.goal_angle = []
self.object_pub = 0
self.set_model_pub = rospy.Publisher('/gazebo/set_model_state',
ModelState,
queue_size=1,
latch=True)
self.set_mode_pub = rospy.Publisher(self.__name + self.workers +
'/set_mode_msg',
String,
queue_size=1,
latch=True)
self.aa_box_possition = []
self.bridge = CvBridge()
self.depth_dim = 768
self.cv_depth = None
self.depth_image = None
self.image_input = None
self.__bumper = None
self.__robot = "_arm"
self.images_ = []
self.aa_box_x = 0.58
self.aa_box_y = 0.
self.dis_obstacle_1 = []
self.dis_obstacle_2 = []
self.aa_box_pos_x = 0.
self.aa_box_pos_y = 0.
self.aa_box_pos_z = 0.
self.set_aabox_pub = rospy.Publisher('aa_box_pos',
aa_box_pos,
queue_size=1,
latch=True)
self.set_aabox_vel = rospy.Publisher('cmd_vel',
Accel,
queue_size=1,
latch=True)
# self.set_mode_pub.publish('set_mode')
self.seed(345 * (workers + 1) + 467 * (name + 1))
self.reset()
## image (gazebo)
rospy.Subscriber('/gazebo/model_states', ModelStates, self.callback)
def __init__(self, name, workers):
self.__name = self.NAME[name%2]
self.__obname = self.NAME[name%2 + 1]
if workers == 0:
self.workers = 'arm'
else:
self.workers = str(workers)
high = np.array([1.,1.,1.,1.,1.,1.,1.,1., #8
1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1., #7
0.,0.,0.,0.,0.,0., #6
0.,0.,0.,0.,0.,0.,0.,0.,0.,#9
0.,0.,0.,0.,0.,0.,0.,0.,0., #2
0.,0.,0.,0.,0.,0.]) #1
#24
low = -1*high
# ox,oy,oz,oa,ob,oc,od,of,
# vx,vy,vz,va,vb,vc,vd,vf
# dis of Link(15)
#
# joint_angle(7),
# limit(1), rate(3)
self.observation_space = spaces.Box(low=low, high=high, dtype=np.float32)
self.action_space = spaces.Discrete(3)
self.act_dim=8
self.obs_dim=57
self.state = []
self.action = []
self.cmd = []
self.point = []
self.goal = []
self.goal_pos = []
self.goal_quat = []
self.goal_phi = 0
self.goal_rpy = []
self.old = []
self.old_pos = []
self.old_quat = []
self.old_phi = 0
self.joint_pos = []
self.joint_angle = []
self.limit = []
self.s_jointpos = []
# self.dis_pos
self.cc = CheckCollision()
self.collision = False
self.range_cnt = 0.6#+(workers*0.1)
self.rpy_range = 0.2*(workers+1)
self.done = True
self.s_cnt = 0
self.goal_err = 0.08
self.ori_err = 0.4
self.quat_inv = False
self.goal_angle = []
self.object_pub = 0
self.set_model_pub = rospy.Publisher(
'/gazebo/set_model_state',
ModelState,
queue_size=1,
latch=True
)
self.set_mode_pub = rospy.Publisher(
self.__name+self.workers+'/set_mode_msg',
String,
queue_size=1,
latch=True
)
# self.set_mode_pub.publish('set_mode')
self.seed(345*(workers+1) + 467*(name+1))
self.reset()
def __init__(self, name, workers):
self.__name = self.NAME[name % 2]
self.__obname = self.NAME[name % 2 + 1]
# if workers == 0:
self.workers = 'arm'
# else:
# self.workers = str(workers)
high = np.array([
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1., #8
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1.,
1., #7
0.,
0.,
0.,
0.,
0.,
0., #6
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0., #9
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0.,
0., #2
0.,
0.,
0.,
0.,
0.,
0.
]) #1
#24
low = -1 * high
# ox,oy,oz,oa,ob,oc,od,of,
# vx,vy,vz,va,vb,vc,vd,vf
# dis of Link(15)
#
# joint_angle(7),
# limit(1), rate(3)
self.observation_space = spaces.Box(low=low,
high=high,
dtype=np.float32)
self.action_space = spaces.Discrete(3)
self.act_dim = 8
self.obs_dim = 57 + 24 + 2
self.state = []
self.action = []
self.cmd = []
self.point = []
self.goal = []
self.goal_pos = []
self.goal_quat = []
self.goal_phi = 0
self.goal_rpy = []
self.old = []
self.old_pos = []
self.old_quat = []
self.old_phi = 0
self.joint_pos = []
self.joint_angle = []
self.limit = []
self.s_jointpos = []
# self.dis_pos
self.cc = CheckCollision()
self.collision = False
self.range_cnt = 0.6 #+(workers*0.1)
self.rpy_range = 0.2 * (workers + 1)
self.done = True
self.s_cnt = 0
self.goal_err = 0.08
self.ori_err = 0.3
self.quat_inv = False
self.goal_angle = []
self.object_pub = 0
self.set_model_pub = rospy.Publisher('/gazebo/set_model_state',
ModelState,
queue_size=1,
latch=True)
self.set_mode_pub = rospy.Publisher(self.__name + self.workers +
'/set_mode_msg',
String,
queue_size=1,
latch=True)
self.set_aabox_pub = rospy.Publisher('aa_box_pos',
aa_box_pos,
queue_size=1,
latch=True)
self.bridge = CvBridge()
self.depth_dim = 76800
self.depth_image = None
self.image_input = None
self.__bumper = None
self.__robot = "_arm"
self.images_ = []
self.aa_box_x = 0
self.aa_box_y = 0
# self.set_mode_pub.publish('set_mode')
rospy.Subscriber('/ir_depth/depth/image_raw', Image, self.callback)
self.seed(9)
# self.seed(345*(workers+1) + 467*(name+1))
self.reset(True)
## image (gazebo)
# rospy.Subscriber("odom", Odometry,self.get_aa_box_position)
# rospy.Subscriber("/bumper",ContactsState,self.Sub_Bumper)
self.arm_move = rospy.Publisher(self.__name + 'arm_move',
Float32MultiArray,
queue_size=1,
latch=True)