def __init__(self,
render=False,
on_rack=False,
gait='trot',
phase=[0, PI, PI, 0],
action_dim=10,
stairs=True):
self._is_stairs = stairs
self._is_render = render
self._on_rack = on_rack
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(
connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._theta = 0
self._theta0 = 0
self._update_action_every = 1. # update is every 50% of the step i.e., theta goes from 0 to pi/2
self._frequency = -2.8 #change back to 1
self._kp = 20
self._kd = 2
self.dt = 0.001
self._frame_skip = 5
self._n_steps = 0
self._action_dim = action_dim
# self._obs_dim = 7
self._obs_dim = 4
self.action = np.zeros(self._action_dim)
self._last_base_position = [0, 0, 0]
self._distance_limit = float("inf")
self._xpos_previous = 0.0
self._walkcon = walking_controller.WalkingController(gait_type=gait,
phase=phase)
self._cam_dist = 1.0
self._cam_yaw = 0.0
self._cam_pitch = 0.0
## Gym env related mandatory variables
observation_high = np.array([10.0] * self._obs_dim)
observation_low = -observation_high
self.observation_space = spaces.Box(observation_low, observation_high)
action_high = np.array([1] * self._action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.hard_reset()
if (self._is_stairs):
boxHalfLength = 0.06
boxHalfWidth = 2.5
boxHalfHeight = 0.02
sh_colBox = self._pybullet_client.createCollisionShape(
self._pybullet_client.GEOM_BOX,
halfExtents=[boxHalfLength, boxHalfWidth, boxHalfHeight])
boxOrigin = 0.15
n_steps = 30
for i in range(n_steps):
block = self._pybullet_client.createMultiBody(
baseMass=0,
baseCollisionShapeIndex=sh_colBox,
basePosition=[
boxOrigin + i * 2 * boxHalfLength, 0,
boxHalfHeight + i * 2 * boxHalfHeight
],
baseOrientation=[0.0, 0.0, 0.0, 1])
x = 1
def __init__(self, render=False, on_rack=False):
self._is_render = render
self._on_rack = on_rack
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(
connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._theta = 0
self._theta0 = 0
self._update_action_every = 1. # update is every 50% of the step i.e., theta goes from 0 to pi/2
self._frequency = 1.
self._kp = 20
self._kd = 2.0
self.dt = 0.001
self._frame_skip = 5
self._n_steps = 0
self._action_dim = 10
self._obs_dim = 7
self.action = np.zeros(self._action_dim)
self._last_base_position = [0, 0, 0]
self._distance_limit = float("inf")
self._xpos_previous = 0.0
self._walkcon = walking_controller.WalkingController(
gait_type='trot',
spine_enable=False,
planning_space='polar_task_space',
left_to_right_switch=True,
frequency=self._frequency)
self._cam_dist = 1.0
self._cam_yaw = 0.0
self._cam_pitch = 0.0
## Gym env related mandatory variables
observation_high = np.array([10.0] * self._obs_dim)
observation_low = -observation_high
self.observation_space = spaces.Box(observation_low, observation_high)
action_high = np.array([1] * self._action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.FLx = np.array([
-0.0939, -0.0831, -0.0702, -0.0539, -0.0409, -0.0369, -0.0329,
-0.0289, -0.0248, -0.0208, -0.0180, -0.0168, -0.0157, -0.0145,
-0.0133, -0.0121, -0.0110, -0.0098, -0.0086, -0.0074, -0.0063,
-0.0051, -0.0039, -0.0027, -0.0016, -0.0004, 0.0008, 0.0020,
0.0037, 0.0055, 0.0074, 0.0092, 0.0111, 0.0129, 0.0148, 0.0168,
0.0193, 0.0217, 0.0241, 0.0265, 0.0289, 0.0305, 0.0322, 0.0338,
0.0354, 0.0370, 0.0372, 0.0370, 0.0368, 0.0365, 0.0363, 0.0361,
0.0359, 0.0357, 0.0355, 0.0353, 0.0352, 0.0347, 0.0334, 0.0321,
0.0309, 0.0294, 0.0269, 0.0244, 0.0218, 0.0195, 0.0173, 0.0152,
0.0130, 0.0109, 0.0087, 0.0066, 0.0044, 0.0022, 0.0001, -0.0021,
-0.0042, -0.0064, -0.0085, -0.0107, -0.0128, -0.0155, -0.0181,
-0.0208, -0.0234, -0.0261, -0.0287, -0.0314, -0.0363, -0.0418,
-0.0473, -0.0528, -0.0583, -0.0641, -0.0719, -0.0802, -0.0912,
-0.0949, -0.0949, -0.0939
])
self.FRx = np.array([
0.0368, 0.0365, 0.0363, 0.0361, 0.0359, 0.0357, 0.0355, 0.0353,
0.0352, 0.0347, 0.0334, 0.0321, 0.0309, 0.0294, 0.0269, 0.0244,
0.0218, 0.0195, 0.0173, 0.0152, 0.0130, 0.0109, 0.0087, 0.0066,
0.0044, 0.0022, 0.0001, -0.0021, -0.0042, -0.0064, -0.0085,
-0.0107, -0.0128, -0.0155, -0.0181, -0.0208, -0.0234, -0.0261,
-0.0287, -0.0314, -0.0363, -0.0418, -0.0473, -0.0528, -0.0583,
-0.0641, -0.0719, -0.0802, -0.0912, -0.0949, -0.0949, -0.0939,
-0.0939, -0.0831, -0.0702, -0.0539, -0.0409, -0.0369, -0.0329,
-0.0289, -0.0248, -0.0208, -0.0180, -0.0168, -0.0157, -0.0145,
-0.0133, -0.0121, -0.0110, -0.0098, -0.0086, -0.0074, -0.0063,
-0.0051, -0.0039, -0.0027, -0.0016, -0.0004, 0.0008, 0.0020,
0.0037, 0.0055, 0.0074, 0.0092, 0.0111, 0.0129, 0.0148, 0.0168,
0.0193, 0.0217, 0.0241, 0.0265, 0.0289, 0.0305, 0.0322, 0.0338,
0.0354, 0.0370, 0.0372, 0.0370
])
self.FLy = np.array([
-0.1992, -0.1941, -0.1905, -0.1896, -0.1896, -0.1892, -0.1888,
-0.1884, -0.1880, -0.1876, -0.1872, -0.1868, -0.1863, -0.1859,
-0.1854, -0.1850, -0.1845, -0.1841, -0.1836, -0.1832, -0.1827,
-0.1823, -0.1818, -0.1814, -0.1809, -0.1805, -0.1800, -0.1796,
-0.1792, -0.1788, -0.1784, -0.1780, -0.1776, -0.1772, -0.1768,
-0.1767, -0.1772, -0.1777, -0.1782, -0.1787, -0.1793, -0.1812,
-0.1831, -0.1850, -0.1869, -0.1888, -0.1911, -0.1936, -0.1960,
-0.1985, -0.2009, -0.2033, -0.2058, -0.2083, -0.2108, -0.2132,
-0.2157, -0.2181, -0.2203, -0.2226, -0.2248, -0.2268, -0.2276,
-0.2285, -0.2294, -0.2299, -0.2299, -0.2300, -0.2300, -0.2301,
-0.2302, -0.2302, -0.2303, -0.2304, -0.2304, -0.2305, -0.2305,
-0.2306, -0.2307, -0.2307, -0.2308, -0.2305, -0.2301, -0.2298,
-0.2294, -0.2291, -0.2287, -0.2284, -0.2278, -0.2272, -0.2266,
-0.2260, -0.2254, -0.2245, -0.2222, -0.2198, -0.2166, -0.2112,
-0.2052, -0.1992
])
self.FRy = np.array([
-0.1960, -0.1985, -0.2009, -0.2033, -0.2058, -0.2083, -0.2108,
-0.2132, -0.2157, -0.2181, -0.2203, -0.2226, -0.2248, -0.2268,
-0.2276, -0.2285, -0.2294, -0.2299, -0.2299, -0.2300, -0.2300,
-0.2301, -0.2302, -0.2302, -0.2303, -0.2304, -0.2304, -0.2305,
-0.2305, -0.2306, -0.2307, -0.2307, -0.2308, -0.2305, -0.2301,
-0.2298, -0.2294, -0.2291, -0.2287, -0.2284, -0.2278, -0.2272,
-0.2266, -0.2260, -0.2254, -0.2245, -0.2222, -0.2198, -0.2166,
-0.2112, -0.2052, -0.1992, -0.1992, -0.1941, -0.1905, -0.1896,
-0.1896, -0.1892, -0.1888, -0.1884, -0.1880, -0.1876, -0.1872,
-0.1868, -0.1863, -0.1859, -0.1854, -0.1850, -0.1845, -0.1841,
-0.1836, -0.1832, -0.1827, -0.1823, -0.1818, -0.1814, -0.1809,
-0.1805, -0.1800, -0.1796, -0.1792, -0.1788, -0.1784, -0.1780,
-0.1776, -0.1772, -0.1768, -0.1767, -0.1772, -0.1777, -0.1782,
-0.1787, -0.1793, -0.1812, -0.1831, -0.1850, -0.1869, -0.1888,
-0.1911, -0.1936
])
self.hard_reset()
def __init__(self,
render = False,
on_rack = False,
gait = 'trot',
phase = [0,no_of_points,no_of_points,0],
action_dim = 12,
obs_dim = 2,
scale = 1.0,
roc = 0.3,
stairs = True):
self._is_stairs = stairs
self.scale = scale #INITIAL ONE FOR TRAINING
self._is_render = render
self._on_rack = on_rack
if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
else:
self._pybullet_client = bullet_client.BulletClient()
self._theta = 0
self._theta0 = 0
self._update_action_every = 1. # update is every 50% of the step i.e., theta goes from 0 to pi/2
self._frequency = 2.5 #change back to 1
# self._frequency = 2.8 #change back to 1
self.frequency_weight = 1
self.prev_yaw = 0
self._kp = 20
self._kd = 2
self.dt = 0.005 # LET ME CHANGE, was 0.001
self._frame_skip = 25 # Working ratio is 5* self._dt
self._n_steps = 0
self._action_dim = action_dim
self._obs_dim = obs_dim
self.action = np.zeros(self._action_dim)
self._last_base_position = [0, 0, 0]
self._distance_limit = float("inf")
self._xpos_previous = 0.0
self._walkcon = walking_controller.WalkingController(gait_type=gait,
phase=phase, scale = self.scale)
self._cam_dist = 1.0
self._cam_yaw = 0.0
self._cam_pitch = 0.0
self.avg_vel_per_step = 0
self.avg_omega_per_step = 0
self.linearV = 0
self.angV = 0
self.radius = roc
## Gym env related mandatory variables
observation_high = np.array([10.0] * self._obs_dim)
observation_low = -observation_high
self.observation_space = spaces.Box(observation_low, observation_high)
action_high = np.array([1] * self._action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.hard_reset()
if(self._is_stairs):
boxHalfLength = 0.06
boxHalfWidth = 2.5
boxHalfHeight = 0.02
sh_colBox = self._pybullet_client.createCollisionShape(self._pybullet_client.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
boxOrigin = 0.15
n_steps = 30
for i in range(n_steps):
block=self._pybullet_client.createMultiBody(baseMass=0,baseCollisionShapeIndex = sh_colBox,basePosition = [boxOrigin + i*2*boxHalfLength,0,boxHalfHeight + i*2*boxHalfHeight],baseOrientation=[0.0,0.0,0.0,1])
x = 1