def SinePolicyExample():
"""An example of minitaur walking with a sine gait."""
env = minitaur_randomize_terrain_gym_env.MinitaurRandomizeTerrainGymEnv(
render=True, motor_velocity_limit=np.inf, pd_control_enabled=True, on_rack=False)
sum_reward = 0
steps = 200
amplitude_1_bound = 0.5
amplitude_2_bound = 0.5
speed = 40
for step_counter in xrange(steps):
time_step = 0.01
t = step_counter * time_step
amplitude1 = amplitude_1_bound
amplitude2 = amplitude_2_bound
steering_amplitude = 0
if t < 10:
steering_amplitude = 0.5
elif t < 20:
steering_amplitude = -0.5
else:
steering_amplitude = 0
# Applying asymmetrical sine gaits to different legs can steer the minitaur.
a1 = math.sin(t * speed) * (amplitude1 + steering_amplitude)
a2 = math.sin(t * speed + math.pi) * (amplitude1 - steering_amplitude)
a3 = math.sin(t * speed) * amplitude2
a4 = math.sin(t * speed + math.pi) * amplitude2
action = [a1, a2, a2, a1, a3, a4, a4, a3]
_, reward, _, _ = env.step(action)
sum_reward += reward
def ResetTerrainExample():
"""An example showing resetting random terrain env."""
num_reset = 10
steps = 100
env = minitaur_randomize_terrain_gym_env.MinitaurRandomizeTerrainGymEnv(
render=True, leg_model_enabled=False, motor_velocity_limit=np.inf, pd_control_enabled=True)
action = [math.pi / 2] * 8
for _ in xrange(num_reset):
env.reset()
for _ in xrange(steps):
_, _, done, _ = env.step(action)
if done:
break