robot_BasicEnv

Basic robot enviroment, inheriting the Gym basic env. This class is inherited by every other robot enviroment in the FRobs_RL library.

class robot_BasicEnv.RobotBasicEnv(launch_gazebo=False, gazebo_init_paused=True, gazebo_use_gui=True, gazebo_recording=False, gazebo_freq=100, world_path=None, world_pkg=None, world_filename=None, gazebo_max_freq=None, gazebo_timestep=None, spawn_robot=False, model_name_in_gazebo='robot', namespace='/robot', pkg_name=None, urdf_file=None, urdf_folder='/urdf', controller_file=None, controller_list=None, urdf_xacro_args=None, rob_state_publisher_max_freq=None, rob_st_term=False, model_pos_x=0.0, model_pos_y=0.0, model_pos_z=0.0, model_ori_x=0.0, model_ori_y=0.0, model_ori_z=0.0, model_ori_w=0.0, reset_controllers=False, reset_mode=1, step_mode=1, num_gazebo_steps=1)[source]

Basic enviroment for all the robot environments in the frobs_rl library. To use a custom world, one can use two options: 1) set the path directly to the world file (world_path) or set the pkg name and world filename (world_pkg and world_filename).

Parameters

  • launch_gazebo (bool) – If True, launch Gazebo at the start of the env.

  • gazebo_init_paused (bool) – If True, Gazebo is initialized in a paused state.

  • gazebo_use_gui (bool) – If True, Gazebo is launched with a GUI (through gzclient).

  • gazebo_recording (bool) – If True, Gazebo is launched with a recording of the GUI (through gzclient).

  • gazebo_freq (int) – The publish rate of gazebo in Hz.

  • world_path (str) – If using a custom world then the path to the world.

  • world_pkg (str) – If using a custom world then the package name of the world.

  • world_filename (str) – If using a custom world then the filename of the world.

  • gazebo_max_freq (float) – max update rate for gazebo in real time factor: 1 is real time, 10 is 10 times real time.

  • gazebo_timestep (float) – The timestep of gazebo in seconds.

  • spawn_robot (bool) – If True, the robot is spawned in the environment.

  • model_name_in_gazebo (str) – The name of the model in gazebo.

  • namespace (str) – The namespace of the robot.

  • pkg_name (str) – The package name where the robot model is located.

  • urdf_file (str) – The path to the urdf file of the robot.

  • urdf_folder (str) – The path to the folder where the urdf files are located. Default is “/urdf”.

  • urdf_xacro_args (str) – The arguments to be passed to the xacro parser.

  • controller_file (str) – The path to the controllers YAML file of the robot.

  • controller_list (list of str) – The list of controllers to be launched.

  • rob_state_publisher_max_freq (int) – The maximum frequency of the ros state publisher.

  • rob_st_term (bool) – If True, the robot state publisher is launched in a new terminal.

  • model_pos_x – The x position of the robot in the world.

  • model_pos_y – The y position of the robot in the world.

  • model_pos_z – The z position of the robot in the world.

  • model_ori_x – The x orientation of the robot in the world.

  • model_ori_y – The y orientation of the robot in the world.

  • model_ori_z – The z orientation of the robot in the world.

  • model_ori_w – The w orientation of the robot in the world.

  • reset_controllers (bool) – If True, the controllers are reset at the start of each episode.

  • reset_mode – If 1, reset Gazebo with a “reset_world” (Does not reset time) If 2, reset Gazebo with a “reset_simulation” (Resets time)

  • step_mode – If 1, step Gazebo using the “pause_physics” and “unpause_physics” services. If 2, step Gazebo using the “step_simulation” command.

  • num_gazebo_steps – If using step_mode 2, the number of steps to be taken.

step(action)[source]

Function to send an action to the robot and get the observation and reward.

reset()[source]

Function to reset the enviroment after an episode is done.

close()[source]

Function to close the environment when training is done.

_send_action(action)[source]

Function to send an action to the robot

_get_observation()[source]

Function to get the observation from the enviroment.

_get_reward()[source]

Function to get the reward from the enviroment.

_check_if_done()[source]

Function to check if the episode is done.

If the episode has a success condition then set done as:

self.info[‘is_success’] = 1.0

_reset_gazebo()[source]

Function to reset the gazebo simulation.

_check_subs_and_pubs_connection()[source]

Function to check if the gazebo and ros connections are ready

_set_episode_init_params()[source]

Function to set some parameters, like the position of the robot, at the begining of each episode.