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__init__.py
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__init__.py
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# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved.
# This software may be modified and distributed under the terms of the
# GNU Lesser General Public License v2.1 or any later version.
# Import gympp bindings
# See https://github.com/robotology/gym-ignition/issues/7
import sys
if sys.platform.startswith('linux') or sys.platform.startswith('darwin'):
import ctypes
sys.setdlopenflags(sys.getdlopenflags() | ctypes.RTLD_GLOBAL)
import gympp_bindings
# Import abstract classes
from gym_ignition.base.task import Task
from gym_ignition.base.robot import Robot
# =========================
# REGISTER THE ENVIRONMENTS
# =========================
from gym.envs.registration import register
# Import the robots
from gym_ignition.robots import rt
from gym_ignition.robots import sim
# Import the tasks
from gym_ignition.tasks import cartpole_discrete
from gym_ignition.tasks import cartpole_continuous
# ======================
# GYMPP C++ ENVIRONMENTS
# ======================
import numpy as np
max_float = float(np.finfo(np.float32).max)
register(
id='CartPoleGympp-Discrete-v0',
max_episode_steps=5000,
entry_point='gym_ignition.gympp.cartpole:CartPoleDiscrete')
# ==========================
# GYMPPY PYTHON ENVIRONMENTS
# ==========================
register(
id='CartPoleGymppy-Discrete-v0',
entry_point='gym_ignition.base.gazebo_env:GazeboEnv',
max_episode_steps=5000,
kwargs={'task': cartpole_discrete.CartPoleDiscrete,
'robot': sim.cartpole.CartPoleRobot,
'sdf': "CartPole/CartPole.sdf",
'world': "DefaultEmptyWorld.world",
'rtf': max_float,
'agent_rate': 1000,
'physics_rate': 1000,
})
register(
id='CartPoleGymppy-Continuous-v0',
entry_point='gym_ignition.base.gazebo_env:GazeboEnv',
max_episode_steps=5000,
kwargs={'task': cartpole_continuous.CartPoleContinuous,
'robot': sim.cartpole.CartPoleRobot,
'sdf': "CartPole/CartPole.sdf",
'world': "DefaultEmptyWorld.world",
'rtf': max_float,
'agent_rate': 1000,
'physics_rate': 1000,
})