Cube Single Disk Environment

The SingleDisk Cube Environment is based on the Cubi Robot created at ETH Zurich. Its a simpler version with only one inertial disk instead of the three of the original.

Single Disk Cube in ROSDS.

Robot Environment

openai_ros.robot_envs.cube_single_disk_env module

class openai_ros.robot_envs.cube_single_disk_env.CubeSingleDiskEnv

Bases: openai_ros.robot_gazebo_env.RobotGazeboEnv

Superclass for all CubeSingleDisk environments.

__init__()

Initializes a new CubeSingleDisk environment.

Args:

__module__ = 'openai_ros.robot_envs.cube_single_disk_env'

_check_all_sensors_ready()

_check_all_systems_ready()

Checks that all the sensors, publishers and other simulation systems are operational.

_check_joint_states_ready()

_check_odom_ready()

_check_publishers_connection()

Checks that all the publishers are working :return:

_compute_reward(observations, done)

Calculates the reward to give based on the observations given.

_get_obs()

_init_env_variables()

Inits variables needed to be initialised each time we reset at the start of an episode.

_is_done(observations)

Checks if episode done based on observations given.

_joints_callback(data)

_odom_callback(data)

_set_action(action)

Applies the given action to the simulation.

_set_init_pose()

Sets the Robot in its init pose

get_joints()

get_odom()

move_joints(roll_speed)

wait_until_roll_is_in_vel(velocity)

Task Environments

• openai_ros.task_envs.moving_cube package
  • Submodules
  • openai_ros.task_envs.moving_cube.one_disk_walk module
  • Module contents