Robot Manipulator
Ver. 1.1.8 (2022-11-09)
This module provides an environment of a robot manipulator based on Homogeneous Matrix
- class mlpro.rl.pool.envs.robotinhtm.RobotArm3D
Bases:
object
Auxiliary class for the implementation of robotinhtm. Generate the Kinematic of a pre-defined robot in Homogeneous Matrix.
- add_link_joint(jointAxis=None, lvector=None, thetaInit=None, adjustRot=None, adjustTheta=None)
- get_transformation_matrix(theta, lvector, rotAxis, adjustRots=None, adjustThetas=None)
- update_joint_coords()
- get_joint()
- get_num_joint()
- set_theta(theta)
- get_homogeneous()
- get_homogeneous_eef()
- get_orientation()
- update_theta(deltaTheta)
- convert_to_quaternion()
- class mlpro.rl.pool.envs.robotinhtm.RobotHTM(p_num_joints=4, p_reset_seed=True, p_seed=None, p_target_mode: str = 'random', p_visualize: bool = True, p_logging=True)
Bases:
Environment
Custom environment for an arm robot represented as Homogeneous Matrix. The goal is to reach a certain point.
- Parameters:
p_num_joints (int) – Number of joints. Default = 4.
p_reset_seed (bool) – If True, random generator is reset. Default = True.
p_seed – Seeding value for the random generator. Default = None.
p_target_mode (str) – Target mode. Possible values are “random” (default) or “fixed”.
p_visualize (bool) – Boolean switch for env/agent visualisation. Default = True.
p_logging – Log level (see constants of class Log). Default = Log.C_LOG_ALL.
- C_NAME = 'RobotHTM'
- C_REWARD_TYPE = 0
- C_LATENCY = datetime.timedelta(seconds=1)
- C_INFINITY = 3.4028235e+38
- C_CYCLE_LIMIT = 100
- static setup_spaces()
Static template method to set up and return state and action space of environment.
- Returns:
state_space (MSpace) – State space object
action_space (MSpace) – Action space object
- set_theta(theta)