openai_ros.task_envs.moving_cube package

Submodules

openai_ros.task_envs.moving_cube.one_disk_walk module

class openai_ros.task_envs.moving_cube.one_disk_walk.MovingCubeOneDiskWalkEnv

Bases: openai_ros.robot_envs.cube_single_disk_env.CubeSingleDiskEnv

__init__()

__module__ = 'openai_ros.task_envs.moving_cube.one_disk_walk'

_compute_reward(observations, done)

_get_obs()

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()

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

_is_done(observations)

_set_action(action)

_set_init_pose()

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)

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

get_distance_from_start_point(start_point)

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

get_orientation_euler()

get_roll_velocity()

get_y_dir_distance_from_start_point(start_point)

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()

Module contents