https://github.com/francesco-mannella/armsim

https://github.com/francesco-mannella/armsim

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• Host: GitHub
• URL: https://github.com/francesco-mannella/armsim
• Owner: francesco-mannella
• License: mit
• Created: 2021-11-04T10:51:14.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2021-11-04T11:08:54.000Z (about 3 years ago)
• Last Synced: 2024-11-07T09:24:04.800Z (3 months ago)
• Language: Python
• Size: 400 KB
• Stars: 0
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# ArmSim

A simple [gym](http://gym.openai.com/) environment using [pybox2d](https://github.com/pybox2d/pybox2d/wiki/manual) as the physics engine and [matplotlib](https://matplotlib.org/) for graphics.

## Table of contents

* [Install](#install)

* [Basic usage](#basic-usage)

## Install

1. Download de ArmSim repo:

       git clone https://github.com/francesco-mannella/ArmSim.git

2. Install the ArmSim package:

       cd ArmSim

       pip install -e .

## Basic usage

### One-arm scenario

    import gym

    import ArmSim

    env = gym.make('ArmSimOneArm-v0')

    for t in range(10):  

      env.render()

      observation = env.step(env.action_space.sample())

#### rendering

The two possible values of the argument to be passed to env.render() are:

* "human": open a matplotlib figure and update it at each call.

* "offline": save a frame into a png file at each call. Files are saved into the local folder 'frames'. This  folder is created if it does not exist.

       

              

                     

             

       

       

              

                     Example in test.py

              

       

#### Actions

The action attribute of env.step must be a vector of 7 joint positions in radiants. The first 7 joints have a range between -Pi/2 and +Pi/2. The two gripper joints have a range between 0 and +Pi/2. They are also coupled so that the second joint will be at most twice the angle of the first one.

| index |  joint name               |

| ----- | ------------------------- |

|  0    |  Ground_to_Arm1           |

|  1    |  Arm1_to_Arm2             |

|  2    |  Arm2_to_Arm3             |

|  3    |  Arm3_to_Claw20           |

|  4    |  Claw20_to_Claw21         |



#### Observations

The observation object returned by env.step is a dictionary:

* observation["JOINT_POSITIONS"] is a vector containing the current angles of the 7:w

 joints

* observation["TOUCH_SENSORS"] is a vector containing the current touch intensity at the four touch sensors (see figure below)

* observation["OBJ_POSITION"] coordinates of the center of mass of the external object

#### Reward

The reward value returned by env.step is always put to 0.

#### Done

The done value returned by env.step is always set to False.

#### Info

The info value returned by env.step is always set to an empy set {}.

  .