# openai_ros.task_envs.moving_cube package¶

## openai_ros.task_envs.moving_cube.one_disk_walk module¶

class openai_ros.task_envs.moving_cube.one_disk_walk.MovingCubeOneDiskWalkEnv[source]
__init__()[source]
__module__ = 'openai_ros.task_envs.moving_cube.one_disk_walk'
_compute_reward(observations, done)[source]
_get_obs()[source]

Here we define what sensor data defines our robots observations To know which Variables we have acces to, we need to read the MyCubeSingleDiskEnv API DOCS :return:

_init_env_variables()[source]

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

_is_done(observations)[source]
_set_action(action)[source]
_set_init_pose()[source]

Sets the Robot in its init pose

action_space = None

We set the Observation space for the 6 observations cube_observations = [

round(current_disk_roll_vel, 0), round(y_distance, 1), round(roll, 1), round(pitch, 1), round(y_linear_speed,1), round(yaw, 1),

]

get_distance_from_point(pstart, p_end)[source]

Given a Vector3 Object, get distance from current position :param p_end: :return:

get_distance_from_start_point(start_point)[source]

Calculates the distance from the given point and the current position given by odometry :param start_point: :return:

get_orientation_euler()[source]
get_roll_velocity()[source]
get_y_dir_distance_from_start_point(start_point)[source]

Calculates the distance from the given point and the current position given by odometry. In this case the increase or decrease in y. :param start_point: :return:

get_y_linear_speed()[source]