def __init__(self, seed=None):
self.screen = None
self.params = parameters.Params()
self.physics_eng = physics.PhysicsSim()
# Ball XY positions can be between -1.5 and 1.5
ball0_os = spaces.Box(low=np.array([-self.params.TABLE_SIZE[0]/2., -self.params.TABLE_SIZE[1]/2.]),
high=np.array([self.params.TABLE_SIZE[0] / 2., self.params.TABLE_SIZE[1] / 2.]))
ball1_os = spaces.Box(low=np.array([-self.params.TABLE_SIZE[0]/2., -self.params.TABLE_SIZE[1]/2.]),
high=np.array([self.params.TABLE_SIZE[0]/2., self.params.TABLE_SIZE[1]/2.]))
# Arm joint can have positons:
# Joint 0: [-Pi/2, Pi/2]
# Joint 1: [-Pi, Pi]
joints_angle = spaces.Box(low=np.array([-np.pi / 2, -np.pi]), high=np.array([np.pi / 2, np.pi]))
joints_vel = spaces.Box(low=np.array([-50, -50]), high=np.array([50, 50]))
self.observation_space = spaces.Tuple([ball0_os, ball1_os, joints_angle, joints_vel])
# Actions are torques on joints and open/close of arm grip.
# Joint torques can be between [-1, 1]
self.action_space = spaces.Box(low=np.array([-1., -1.]), high=np.array([1., 1.]))
self.seed(seed)
def __init__(self, balls_pose=[[0, 0]], arm_position=None, params=None):
if params is None:
self.params = parameters.Params()
else:
self.params = params
# pprint('Parameters: {}'.format(vars(self.params)))
# Create physic simulator
self.world = b2.b2World(gravity=(0, 0), doSleep=True)
self.dt = self.params.TIME_STEP
self.vel_iter = self.params.VEL_ITER
self.pos_iter = self.params.POS_ITER
self._create_table()
self._create_balls(balls_pose)
self._create_robotarm(arm_position)
self._create_holes()
def __init__(self, seed=None, max_steps=500):
""" Constructor
:param seed: the random seed for the environment
:param max_steps: the maximum number of steps the episode lasts
:return:
"""
self.screen = None
self.params = parameters.Params()
self.params.MAX_ENV_STEPS = max_steps
self.physics_eng = physics.PhysicsSim()
## Ball XY positions can be between -1.5 and 1.5
## Arm joint can have positons:
# Joint 0: [-Pi/2, Pi/2]
# Joint 1: [-Pi, Pi]
self.observation_space = spaces.Box(
low=np.array([
-self.params.TABLE_SIZE[0] / 2.,
-self.params.TABLE_SIZE[1] / 2., # ball pose
-np.pi / 2,
-np.pi, # joint angles
-50,
-50
]), # joint vels
high=np.array([
self.params.TABLE_SIZE[0] / 2.,
self.params.TABLE_SIZE[1] / 2., # ball pose
np.pi / 2,
np.pi, # joint angles
50,
50
]),
dtype=np.float32) # joint vels
## Joint commands can be between [-1, 1]
self.action_space = spaces.Box(low=np.array([-1., -1.]),
high=np.array([1., 1.]),
dtype=np.float32)
self.goals = np.array(
[hole['pose'] for hole in self.physics_eng.holes])
self.goalRadius = [hole['radius'] for hole in self.physics_eng.holes]
self.rew_area = None
self.seed(seed)
def __init__(self, seed=None, max_steps=500):
""" Constructor
:param seed: the random seed for the environment
:param max_steps: the maximum number of steps the episode lasts
:return:
"""
self.screen = None
self.params = parameters.Params()
self.physics_eng = physics.PhysicsSim()
self.params.MAX_ENV_STEPS = max_steps
## Ball XY positions can be between -1.5 and 1.5
ball0_os = spaces.Box(low=np.array(
[-self.params.TABLE_SIZE[0] / 2.,
-self.params.TABLE_SIZE[1] / 2.]),
high=np.array([
self.params.TABLE_SIZE[0] / 2.,
self.params.TABLE_SIZE[1] / 2.
]))
ball1_os = spaces.Box(low=np.array(
[-self.params.TABLE_SIZE[0] / 2.,
-self.params.TABLE_SIZE[1] / 2.]),
high=np.array([
self.params.TABLE_SIZE[0] / 2.,
self.params.TABLE_SIZE[1] / 2.
]))
## Arm joint can have positons:
# Joint 0: [-Pi/2, Pi/2]
# Joint 1: [-Pi, Pi]
joints_angle = spaces.Box(low=np.array([-np.pi / 2, -np.pi]),
high=np.array([np.pi / 2, np.pi]))
joints_vel = spaces.Box(low=np.array([-50, -50]),
high=np.array([50, 50]))
self.observation_space = spaces.Tuple(
[ball0_os, ball1_os, joints_angle, joints_vel])
## Joint commands can be between [-1, 1]
self.action_space = spaces.Box(low=np.array([-1., -1.]),
high=np.array([1., 1.]))
self.seed(seed)
def __init__(self, balls_pose=[[0, 0]], arm_position=None, params=None):
"""
Constructor
:param balls_pose: Initial ball poses. Is a list of the ball poses [ball0, ball1, ...]
:param arm_position: Initial arm position
:param params: Parameters
"""
if params is None:
self.params = parameters.Params()
else:
self.params = params
## Physic simulator
self.world = b2.b2World(gravity=(0, 0), doSleep=True)
self.dt = self.params.TIME_STEP
self.vel_iter = self.params.VEL_ITER
self.pos_iter = self.params.POS_ITER
self._create_table()
self._create_balls(balls_pose)
self._create_robotarm(arm_position)
self._create_holes()