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)