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Throwing Environment

An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This is a contextual environment. The context defines the target for the throw. This is a very simple environment that is used to demonstrate how MARS environments can be implemented.

Installation

Install BOLeRo first. See here for instructions.

Source bolero's env.sh. Then you can install this environment:

git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started

There is a very simple script that demonstrates how to use this environment in the subfolder 'example': 'run_experiment.py'.

License

This BOLeRo environment is distributed under the 3-clause BSD license.

Environment Parameters

When using this MARS based environments there are some basic environment parameters, which can be changed within learning_config.yml:

  • calc_ms: The time interval the physic engine does updates or the time between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).

Example code for the Environment section in the learning_config.yml:

Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About

MARS-based environment for BOLeRo

Topics

boleroreinforcement-learningsimulation

Resources

Readme
Activity
Custom properties

Stars

4 stars

Watchers

2 watching

Forks

1 fork
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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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BranchesTags
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Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About
MARS-based environment for BOLeRo
Topics
boleroreinforcement-learningsimulation
Resources
Readme
Activity
Custom properties
Stars
4 stars
Watchers
2 watching
Forks
1 fork
Report repository
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Packages
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About
MARS-based environment for BOLeRo
Topics
boleroreinforcement-learningsimulation
Resources
Readme
Activity
Custom properties
Stars
4 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About
MARS-based environment for BOLeRo
Topics
boleroreinforcement-learningsimulation
Resources
Readme
Activity
Custom properties
Stars
4 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About
MARS-based environment for BOLeRo
Topics
boleroreinforcement-learningsimulation
Resources
Readme
Activity
Custom properties
Stars
4 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About
MARS-based environment for BOLeRo
Topics
boleroreinforcement-learningsimulation
Resources
Readme
Activity
Custom properties
Stars
4 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

About
MARS-based environment for BOLeRo
Topics
boleroreinforcement-learningsimulation
Resources
Readme
Activity
Custom properties
Stars
4 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
BranchesTags
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Throwing Environment
An environment for BOLeRo that simulates a 3 DOF arm that throws a ball. This
is a contextual environment. The context defines the target for the throw.
This is a very simple environment that is used to demonstrate how MARS
environments can be implemented.
Installation
Install BOLeRo first. See
here for instructions.
Source bolero's env.sh. Then you can install this environment:
git clone git@github.com:rock-learning/throwing_environment.git
cd throwing_environment
mkdir build
cd build
cmake_debug ..
make install

Getting Started
There is a very simple script that demonstrates how to use this environment in
the subfolder 'example': 'run_experiment.py'.
License
This BOLeRo environment is distributed under the
3-clause BSD license.
Environment Parameters
When using this MARS based environments there are some basic environment
parameters, which can be changed within learning_config.yml:
  • calc_ms: The time interval the physic engine does updates or the time
between two physic updates.
  • stepTimeMs: The time interval for one step of the environment. E.g. if
stepTimeMs = 20 and calc_ms = 2 the environment will do 10 physics
updates for each step.
  • graphicsUpdateTime: The time interval for updating the graphical
interface.
  • enableGUI: If false MARS starts without GUI. Therefore the file
core_libs-nogui.txt must exist.
  • armHeight: Height of the arm above the ground. This is important to
compute the point at which the ball hits the ground.
  • verbose: Verbosity level (integer).
Example code for the Environment section in the
learning_config.yml:
Environment:
type: "throwing_environment"
calc_ms: 10
stepTimeMs: 10
graphicsUpdateTime: 10
enableGUI: true
armHeight: 0.0
verbose: 0

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MARS-based environment for BOLeRo
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