gym_billiard.envs.billiard_env.BilliardEnv Class Reference

Inheritance diagram for gym_billiard.envs.billiard_env.BilliardEnv:

Collaboration diagram for gym_billiard.envs.billiard_env.BilliardEnv:

Public Member Functions
def	__init__ (self, seed=None, max_steps=500)
def	seed (self, seed=None)
def	reset (self)
def	step (self, action)
def	render (self, mode='human')

Public Attributes
	screen
	params
	physics_eng
	observation_space
	Ball XY positions can be between -1.5 and 1.5. More...
	action_space
	Joint commands can be between [-1, 1]. More...
	steps
	state
	clock

Static Public Attributes
dictionary	metadata

Detailed Description

State is composed of:
s = ([ball_x, ball_y], [joint0_angle, joint1_angle], [joint0_speed, joint1_speed])

The values that these components can take are:
ball_x, ball_y -> [-1.5, 1.5]
joint0_angle -> [-pi/2, pi/2]
joint1_angle -> [-pi, pi]
joint0_speed, joint1_speed -> [-50, 50]

Constructor & Destructor Documentation

__init__()

def gym_billiard.envs.billiard_env.BilliardEnv.__init__	(		self,
			seed = None,
			max_steps = 500
	)

Constructor
:param seed: the random seed for the environment
:param max_steps: the maximum number of steps the episode lasts
:return:

Member Function Documentation

render()

def gym_billiard.envs.billiard_env.BilliardEnv.render	(		self,
			mode = 'human'
	)

Rendering function
:param mode: if human, renders on screen. If rgb_array, renders as numpy array
:return: screen if mode=human, array if mode=rgb_array

reset()

def gym_billiard.envs.billiard_env.BilliardEnv.reset

(

self

)

Function to reset the environment.
- If param RANDOM_BALL_INIT_POSE is set, the ball appears in a random pose, otherwise it will appear at [-0.5, 0.2]
- If param RANDOM_ARM_INIT_POSE is set, the arm joint positions will be set randomly, otherwise they will have [0, 0]
:return: Initial observation

seed()

def gym_billiard.envs.billiard_env.BilliardEnv.seed	(		self,
			seed = None
	)

Function to seed the environment
:param seed: The random seed
:return: [seed]

step()

def gym_billiard.envs.billiard_env.BilliardEnv.step	(		self,
			action
	)

Performs an environment step.
:param action: Arm Motor commands. Can be either torques or velocity, according to TORQUE_CONTROL parameter
:return: state, reward, final, info

Member Data Documentation

action_space

gym_billiard.envs.billiard_env.BilliardEnv.action_space

Joint commands can be between [-1, 1].

clock

gym_billiard.envs.billiard_env.BilliardEnv.clock

metadata

dictionary gym_billiard.envs.billiard_env.BilliardEnv.metadata

static

Initial value:

=  {'render.modes': ['human'],
              'video.frames_per_second': 15
              }

observation_space

gym_billiard.envs.billiard_env.BilliardEnv.observation_space

Ball XY positions can be between -1.5 and 1.5.

Arm joint can have positons: Joint 0: [-Pi/2, Pi/2] Joint 1: [-Pi, Pi]

params

gym_billiard.envs.billiard_env.BilliardEnv.params

physics_eng

gym_billiard.envs.billiard_env.BilliardEnv.physics_eng

screen

gym_billiard.envs.billiard_env.BilliardEnv.screen

state

gym_billiard.envs.billiard_env.BilliardEnv.state

steps

gym_billiard.envs.billiard_env.BilliardEnv.steps

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The documentation for this class was generated from the following file:

• gym_billiard/envs/billiard_env.py