Platform

This module extends corl.simulators.base_platform.BasePlatform to create a simple one dimensional docking platform.

Docking1dPlatform (BasePlatform)

A platform representing a spacecraft operating under Double Integrator dynamics. Allows for saving an action to the platform for when the platform needs to give an action to the environment during the environment step function

Parameters

platform_name : str Name of the platform platform : sim_entity Backend simulation entity associated with the platform platform_config : dict Platform-specific configuration dictionary

Source code in corl/simulators/docking_1d/platform.py

class Docking1dPlatform(BasePlatform):
    """
    A platform representing a spacecraft operating under Double Integrator dynamics.
    Allows for saving an action to the platform for when the platform needs
    to give an action to the environment during the environment step function

    Parameters
    ----------
    platform_name : str
        Name of the platform
    platform : sim_entity
        Backend simulation entity associated with the platform
    platform_config : dict
        Platform-specific configuration dictionary
    """

    def __init__(self, **kwargs) -> None:
        self.config: Docking1dPlatformValidator
        super().__init__(**kwargs)

        self._platform = self.config.platform
        self._last_applied_action = np.array([0], dtype=np.float32)  # thrust
        self._sim_time = 0.0

    @property
    def get_validator(self) -> typing.Type[Docking1dPlatformValidator]:
        return Docking1dPlatformValidator

    def __eq__(self, other):
        if isinstance(other, Docking1dPlatform):
            eq = (self.velocity == other.velocity).all()
            eq = eq and (self.position == other.position).all()
            eq = eq and self.sim_time == other.sim_time
            return eq
        return False

    def get_applied_action(self):
        """
        returns the action stored in this platform

        Returns:
            typing.Any -- any sort of stored action
        """
        return self._last_applied_action

    def save_action_to_platform(self, action):
        """
        saves an action to the platform if it matches
        the action space

        Arguments:
            action typing.Any -- The action to store in the platform
        """
        if isinstance(action, np.ndarray) and len(action) == 1:
            self._last_applied_action = action

    @property
    def position(self):
        """
        The position of the platform

        Returns
        -------
        np.ndarray
            The position vector of the platform
        """
        return self._platform.position

    @property
    def velocity(self):
        """
        The velocity of the platform

        Returns
        -------
        np.ndarray
            The velocity vector of the platform
        """
        return self._platform.velocity

    @property
    def sim_time(self):
        """
        The current simulation time in seconds.

        Returns
        -------
        float
            Current simulation time
        """
        return self._sim_time

    @sim_time.setter
    def sim_time(self, time):
        self._sim_time = time

    @property
    def operable(self):
        return True

get_validator: Type[corl.simulators.docking_1d.platform.Docking1dPlatformValidator] property readonly

get validator for this BasePlatform

Returns:

Type	Description
Type[corl.simulators.docking_1d.platform.Docking1dPlatformValidator]	BasePlatformValidator -- validator the platform will use to generate a configuration

operable property readonly

Is the platform operable?

Returns

bool Is the platform operable?

position property readonly

The position of the platform

Returns

np.ndarray The position vector of the platform

sim_time property writable

The current simulation time in seconds.

Returns

float Current simulation time

velocity property readonly

The velocity of the platform

Returns

np.ndarray The velocity vector of the platform

get_applied_action(self)

returns the action stored in this platform

Returns:

Type	Description
	typing.Any -- any sort of stored action

Source code in corl/simulators/docking_1d/platform.py

def get_applied_action(self):
    """
    returns the action stored in this platform

    Returns:
        typing.Any -- any sort of stored action
    """
    return self._last_applied_action

save_action_to_platform(self, action)

saves an action to the platform if it matches the action space

Source code in corl/simulators/docking_1d/platform.py

def save_action_to_platform(self, action):
    """
    saves an action to the platform if it matches
    the action space

    Arguments:
        action typing.Any -- The action to store in the platform
    """
    if isinstance(action, np.ndarray) and len(action) == 1:
        self._last_applied_action = action

Docking1dPlatformValidator (BasePlatformValidator) pydantic-model

Docking1dPlatformValidator

Parameters

!!! platform "Deputy1D"
    Deputy associated with the CoRL Docking1dPlatform

Source code in corl/simulators/docking_1d/platform.py

class Docking1dPlatformValidator(BasePlatformValidator):
    """Docking1dPlatformValidator

    Parameters
    ----------
        platform: Deputy1D
            Deputy associated with the CoRL Docking1dPlatform
    """
    platform: Deputy1D