def reset(self, init_pos=None):
# Reset env variables
self.step_ctr = 0
self.episodes += 1
self.used_energy = np.zeros((self.act_dim))
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.12
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
# Init_quat
self.rnd_yaw = np.random.rand() * 0.0 - 0.0
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(10):
self.sim.forward()
self.sim.step()
# self.render()
# time.sleep(3)
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def reset(self, init_pos=None):
if np.random.rand() < self.env_change_prob:
print("Obstacle difficulty level: {}".format(self.difficulty))
self.generate()
time.sleep(0.1)
if self.episode_reward >= self.average_episode_reward:
self.difficulty += 0.01
else:
self.difficulty = np.maximum(1, self.difficulty - 0.01)
self.episode_reward = 0
self.average_episode_reward = self.average_episode_reward * 0.1 + self.average_episode_reward * 0.99
self.viewer = None
self.env_name = self.env_list[np.random.randint(0, len(self.env_list))]
path = Hexapod.MODELPATH + self.env_name + ".xml"
self.model = mujoco_py.load_model_from_path(path)
self.sim = mujoco_py.MjSim(self.model)
self.model.opt.timestep = 0.02
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 31
self.act_dim = self.sim.data.actuator_length.shape[0] + self.mem_dim
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0 # np.random.rand() * 4 - 4
init_q[1] = 0 # np.random.rand() * 8 - 4
init_q[2] = 0.15
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
if init_pos is not None:
init_q[0:3] += init_pos
# Init_quat
self.rnd_yaw = np.random.randn() * 0.3
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(20):
self.sim.forward()
self.sim.step()
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def step(self, ctrl):
ctrl = self.scale_action(ctrl)
self.sim.data.ctrl[:] = ctrl
self.sim.forward()
self.sim.step()
self.step_ctr += 1
obs = self.get_obs()
# Angle deviation
x, y, z, qw, qx, qy, qz = obs[:7]
xd, yd, zd, thd, phid, psid = self.sim.get_state().qvel.tolist()[:6]
# Reward conditions
target_vel = 0.25
t_x = target_vel * np.cos(self.target_yaw)
t_y = target_vel * np.sin(self.target_yaw)
velocity_rew_x = 1. / (abs(xd - t_x) + 1.) - 1. / (t_x + 1.)
velocity_rew_y = 1. / (abs(yd - t_y) + 1.) - 1. / (t_y + 1.)
roll, pitch, yaw = my_utils.quat_to_rpy([qw, qx, qy, qz])
yaw_pen = np.min((abs((yaw % 6.183) - (self.target_yaw % 6.183)),
abs(yaw - self.target_yaw)))
r_pos = velocity_rew_x * 6 + velocity_rew_y * 6
r_neg = np.square(roll) * 0.5 + \
np.square(pitch) * 0.5 + \
np.square(zd) * 0.5 + \
np.square(yaw_pen) * 0.2
r_neg = np.clip(r_neg, 0, 1) * 1.
r_pos = np.clip(r_pos, -2, 2)
r = r_pos - r_neg
self.episode_reward += r
# Reevaluate termination condition
done = self.step_ctr > self.max_steps
contacts = (np.abs(
np.array(self.sim.data.cfrc_ext[[4, 7, 10, 13, 16, 19
]])).sum(axis=1) > 0.05).astype(
np.float32)
obs = np.concatenate([
self.scale_joints(self.sim.get_state().qpos.tolist()[7:]),
self.sim.get_state().qvel.tolist()[6:],
self.sim.get_state().qvel.tolist()[:6], [roll, pitch, yaw, y],
[self.target_yaw], contacts
])
self.model.body_quat[20] = my_utils.rpy_to_quat(0, 0, self.target_yaw)
self.model.body_pos[20] = [x, y, 1]
return obs, r, done, None
def reset(self, init_pos = None):
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.10
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
# Init_quat
self.rnd_yaw = np.random.rand() * 1 - 0.5
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
self.goal_xy_1 = [np.random.rand() * .7 + .5, np.random.rand() * 2 - 1.]
self.goal_xy_2 = [np.random.rand() * .7 + .5 + self.goal_xy_1[0], np.random.rand() * 2 - 1.]
self.goal_xy_3 = [np.random.rand() * .7 + .5 + self.goal_xy_2[0], np.random.rand() * 2 - 1.]
self.goal_xy_4 = [np.random.rand() * .7 + .5 + self.goal_xy_3[0], np.random.rand() * 2 - 1.]
self.goal_xy_5 = [np.random.rand() * .7 + .5 + self.goal_xy_4[0], np.random.rand() * 2 - 1.]
self.goal_list = [self.goal_xy_1,self.goal_xy_2,self.goal_xy_3,self.goal_xy_4,self.goal_xy_5]
# Set environment state
self.set_state(init_q, init_qvel)
self.current_goal_idx = 0
self.goal_A = self.goal_list[self.current_goal_idx]
self.goal_B = self.goal_list[self.current_goal_idx + 1]
for i in range(30):
self.sim.forward()
self.sim.step()
self.prev_xy = [0, 0]
self.model.body_pos[20] = [*self.goal_A, 0]
self.model.body_pos[21] = [*self.goal_B, 0]
tar_angle = np.arctan2(self.goal_A[1] - 0, self.goal_A[0] - 0)
self.prev_deviation = np.min((abs((self.rnd_yaw % 6.183) - (tar_angle % 6.183)), abs(self.rnd_yaw - tar_angle)))
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def reset(self, init_pos=None):
# Set episode targets
self.target_criteria_norm = np.random.rand(
len(self.criteria_pen_range_dict)) * 2 - 1 #
self.target_criteria_dict = {}
for i, (k, v) in enumerate(self.criteria_pen_range_dict.items()):
self.target_criteria_dict[k] = (
(self.target_criteria_norm[i] + 1) * 0.5) * abs(v[1] -
v[0]) + v[0]
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = -7.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.10
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
if init_pos is not None:
init_q[0:3] += init_pos
# Init_quat
self.rnd_yaw = np.random.randn() * 0.0
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(30):
self.sim.forward()
self.sim.step()
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def reset(self, init_pos=None):
if np.random.rand() < self.env_change_prob:
self.generate_hybrid_env(self.n_envs,
self.specific_env_len * self.n_envs)
time.sleep(0.3)
self.viewer = None
path = Hexapod.MODELPATH + "{}.xml".format(self.ID)
while True:
try:
self.model = mujoco_py.load_model_from_path(path)
break
except Exception:
pass
self.sim = mujoco_py.MjSim(self.model)
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 18 * 2 + 6 + 4 + 6 + 1
self.act_dim = self.sim.data.actuator_length.shape[0]
if self.use_HF:
self.obs_dim += self.HF_width * self.HF_length
# Reset env variables
self.step_ctr = 0
self.episodes = 0
if self.use_HF:
self.hf_data = self.model.hfield_data
self.hf_ncol = self.model.hfield_ncol[0]
self.hf_nrow = self.model.hfield_nrow[0]
self.hf_column_meters = self.model.hfield_size[0][0] * 2
self.hf_row_meters = self.model.hfield_size[0][1] * 2
self.hf_grid = self.hf_data.reshape((self.hf_nrow, self.hf_ncol))
self.hf_grid_aug = np.zeros((self.hf_nrow * 2, self.hf_ncol * 2))
self.hf_grid_aug[int(self.hf_nrow /
2):self.hf_nrow + int(self.hf_nrow / 2),
int(self.hf_ncol / 2):self.hf_ncol +
int(self.hf_ncol / 2)] = self.hf_grid
self.pixels_per_column = self.hf_ncol / float(
self.hf_column_meters)
self.pixels_per_row = self.hf_nrow / float(self.hf_row_meters)
self.x_offset = 0.3
self.y_offset = 0.6
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.10
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
if init_pos is not None:
init_q[0:3] += init_pos
self.vel_sum = 0
# Init_quat
self.rnd_yaw = 0 # np.random.rand() * 2. - 1
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(30):
self.sim.forward()
self.sim.step()
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def reset(self, init_pos=None):
if np.random.rand() < self.env_change_prob:
self.generate_hybrid_env(self.n_envs, self.max_steps)
time.sleep(0.1)
self.viewer = None
path = Hexapod.MODELPATH + "{}.xml".format(self.ID)
while True:
try:
self.model = mujoco_py.load_model_from_path(path)
break
except Exception:
pass
self.sim = mujoco_py.MjSim(self.model)
self.model.opt.timestep = 0.02
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 18 * 2 + 6 + 4 + 6
self.act_dim = self.sim.data.actuator_length.shape[0]
if self.use_HF:
self.obs_dim += self.HF_width * self.HF_length
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.10
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
if init_pos is not None:
init_q[0:3] += init_pos
# Init_quat
self.rnd_yaw = np.random.randn() * 0.2
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(40):
self.sim.forward()
self.sim.step()
# self.render()
# time.sleep(3)
obs, _, _, _ = self.step(np.zeros(self.act_dim))
#x,y = self.sim.get_state().qpos.tolist()[:2]
#print("x,y: ", x , y)
#test_patch = self.get_local_hf(x,y)
return obs
def step(self, ctrl):
if self.mem_dim == 0:
mem = np.zeros(0)
act = ctrl
ctrl = self.scale_action(act)
else:
mem = ctrl[-self.mem_dim:]
act = ctrl[:-self.mem_dim]
ctrl = self.scale_action(act)
x, y, z, q0, q1, q2, q3 = self.get_obs()[:7]
prev_dist_to_goal = np.sqrt(
np.square(self.goal_xy[0] - x) + np.square(self.goal_xy[1] - y))
siny_cosp = 2.0 * (q0 * q3 + q1 * q2)
cosy_cosp = 1.0 - 2.0 * (q2 * q2 + q3 * q3)
yaw_prev = np.arctan2(siny_cosp, cosy_cosp)
self.sim.data.ctrl[:] = ctrl
self.sim.forward()
self.sim.step()
self.step_ctr += 1
obs = self.get_obs()
obs_dict = self.get_obs_dict()
x, y, z, q0, q1, q2, q3 = obs[:7]
curr_dist_to_goal = np.sqrt(
np.square(self.goal_xy[0] - x) + np.square(self.goal_xy[1] - y))
xd, yd, zd, _, _, _ = self.sim.get_state().qvel.tolist()[:6]
#roll, pitch, yaw = my_utils.quat_to_rpy((q0,q1,q2,q3))
#print(roll, pitch, yaw)
siny_cosp = 2.0 * (q0 * q3 + q1 * q2)
cosy_cosp = 1.0 - 2.0 * (q2 * q2 + q3 * q3)
yaw = np.arctan2(siny_cosp, cosy_cosp)
# Calculate target angle to goal
tar_angle = np.arctan2(self.goal_xy[1] - y, self.goal_xy[0] - x)
# Reward conditions
goal_velocity = (prev_dist_to_goal - curr_dist_to_goal) * 50
target_velocity = 0.3
velocity_rew = 1. / (abs(goal_velocity - target_velocity) +
1.) - 1. / (target_velocity + 1.)
direction_rew = abs(tar_angle - yaw_prev) - abs(tar_angle - yaw)
direction_pen = abs(tar_angle - yaw)
rV = (velocity_rew * 3.0, goal_velocity * 0, direction_rew * 0,
-direction_pen * .0, -np.square(ctrl).sum() * 0.00)
#,- (np.square(pitch) * 1. + np.square(roll) * 1. + np.square(zd) * 1.) * self.goal_level * int(self.step_ctr > 15))
r = sum(rV)
r = np.clip(r, -3, 3)
obs_dict['rV'] = rV
# Reevaluate termination condition
done = self.step_ctr > self.max_steps # or (abs(angle) > 2.4 and self.step_ctr > 30) or abs(y) > 0.5 or x < -0.2
obs = np.concatenate([
self.sim.get_state().qpos.tolist()[2:],
self.sim.get_state().qvel.tolist(), obs_dict["contacts"],
[self.goal_xy[0] - x, self.goal_xy[1] - y], mem
])
self.model.body_quat[21] = my_utils.rpy_to_quat(0, 0, yaw)
self.model.body_pos[21] = [x, y, 1]
return obs, r, done, obs_dict
def reset(self, init_pos=None):
if np.random.rand() < self.env_change_prob:
self.envs, self.size_list, self.scaled_indeces_list = self.generate_hybrid_env(
self.n_envs, self.max_steps)
time.sleep(0.2)
self.current_env_idx = 0
self.current_env = self.envs[self.current_env_idx]
self.viewer = None
path = Hexapod.MODELPATH + "{}.xml".format(self.ID)
while True:
try:
self.model = mujoco_py.load_model_from_path(path)
break
except Exception:
pass
self.sim = mujoco_py.MjSim(self.model)
self.model.opt.timestep = 0.02
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 18 * 2 + 6 + 4 + 6
self.act_dim = self.sim.data.actuator_length.shape[0] + self.n_envs + 1
if self.use_HF:
self.obs_dim += self.HF_width * self.HF_length
# Reset env variables
self.step_ctr = 0
self.episodes = 0
if self.use_HF:
self.hf_data = self.model.hfield_data
self.hf_ncol = self.model.hfield_ncol[0]
self.hf_nrow = self.model.hfield_nrow[0]
self.hf_column_meters = self.model.hfield_size[0][0] * 2
self.hf_row_meters = self.model.hfield_size[0][1] * 2
self.hf_grid = self.hf_data.reshape((self.hf_nrow, self.hf_ncol))
self.hf_grid_aug = np.zeros((self.hf_nrow * 2, self.hf_ncol * 2))
self.hf_grid_aug[int(self.hf_nrow /
2):self.hf_nrow + int(self.hf_nrow / 2),
int(self.hf_ncol / 2):self.hf_ncol +
int(self.hf_ncol / 2)] = self.hf_grid
self.pixels_per_column = self.hf_ncol / float(
self.hf_column_meters)
self.pixels_per_row = self.hf_nrow / float(self.hf_row_meters)
self.x_offset = 0.3
self.y_offset = 0.6
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.10
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
if init_pos is not None:
init_q[0:3] += init_pos
# Init_quat
self.rnd_yaw = np.random.randn() * 0.2
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(40):
self.sim.forward()
self.sim.step()
# self.render()
# time.sleep(3)
self.obs = np.zeros(self.obs_dim)
self.obs, _, _, _ = self.step(np.zeros(self.act_dim))
#x,y = self.sim.get_state().qpos.tolist()[:2]
#print("x,y: ", x , y)
#test_patch = self.get_local_hf(x,y)
return self.obs
def reset(self, init_pos = None):
if np.random.rand() < self.env_change_prob:
self.generate_hybrid_env(self.n_envs, self.specific_env_len * self.n_envs)
time.sleep(0.3)
self.viewer = None
path = Hexapod.MODELPATH + "{}.xml".format(self.ID)
while True:
try:
self.model = mujoco_py.load_model_from_path(path)
break
except Exception:
pass
self.sim = mujoco_py.MjSim(self.model)
self.model.opt.timestep = 0.02
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 18 * 2 + 6 + 4 + 6 + 1
self.act_dim = self.sim.data.actuator_length.shape[0]
if self.use_HF:
self.obs_dim += self.HF_width * self.HF_length
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[0] = 0.0 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.18
init_qvel = np.random.randn(self.qvel_dim).astype(np.float32) * 0.1
if init_pos is not None:
init_q[0:3] += init_pos
self.vel_sum = 0
# Init_quat
if self.rnd_init_yaw:
self.rnd_yaw = np.random.rand() * 1.6 - 0.8
else:
self.rnd_yaw = 0
rnd_quat = my_utils.rpy_to_quat(0,0,self.rnd_yaw)
init_q[3:7] = rnd_quat
self.prev_deviation = np.min((abs((self.rnd_yaw % 6.183) - (0 % 6.183)), abs(self.rnd_yaw - 0)))
self.prev_y_deviation = 0
# Set environment state
self.set_state(init_q, init_qvel)
for i in range(20):
self.sim.forward()
self.sim.step()
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def reset(self, init_pos=None):
if np.random.rand() < self.env_change_prob:
self.generate_hybrid_env(self.n_envs,
self.specific_env_len * self.n_envs)
time.sleep(0.1)
self.viewer = None
path = Hexapod.MODELPATH + "{}.xml".format(self.ID)
#
# with open(Hexapod.MODELPATH + "limited.xml", "r") as in_file:
# buf = in_file.readlines()
#
# with open(Hexapod.MODELPATH + self.ID + ".xml", "w") as out_file:
# for line in buf:
# if line.startswith(' <position joint='):
# out_file.write(' <hfield name="hill" file="{}.png" size="{} 1.2 {} 0.1" /> \n '.format(self.ID, self.env_scaling * self.n_envs, 0.6 * height_SF))
# else:
# out_file.write(line)
while True:
try:
self.model = mujoco_py.load_model_from_path(path)
break
except Exception:
pass
self.sim = mujoco_py.MjSim(self.model)
self.model.opt.timestep = 0.003
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 22 + self.use_contacts * 6
self.act_dim = self.sim.data.actuator_length.shape[0]
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.zeros(self.q_dim, dtype=np.float32)
init_q[7:] = self.scale_action([0] * 18)
init_q[0] = 0.2 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.3
init_qvel = np.zeros(self.qvel_dim)
# TODO: Change initial q
if init_pos is not None:
init_q[0:3] += init_pos
self.vel_sum = 0
# Init_quat
if self.rnd_init_yaw:
self.rnd_yaw = np.random.rand() * 1. - 0.5
else:
self.rnd_yaw = 0
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
self.prev_deviation = np.min(
(abs((self.rnd_yaw % 6.183) - (0 % 6.183)), abs(self.rnd_yaw - 0)))
self.prev_y_deviation = 0
# Set environment state
self.set_state(init_q, init_qvel)
ctr = 0
while True:
ctr += 1
self.sim.forward()
self.sim.step()
#self.render()
#time.sleep(0.01)
if np.max(self.sim.get_state().qvel.tolist()
[0:7]) < 0.15 and ctr > 10:
break
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
def reset(self, init_pos=None):
if np.random.rand() < self.env_change_prob:
self.generate_hybrid_env(self.n_envs,
self.specific_env_len * self.n_envs)
time.sleep(0.1)
self.viewer = None
path = Hexapod.MODELPATH + "{}.xml".format(self.ID)
while True:
try:
self.model = mujoco_py.load_model_from_path(path)
break
except Exception:
pass
self.sim = mujoco_py.MjSim(self.model)
self.model.opt.timestep = 0.01
# Environment dimensions
self.q_dim = self.sim.get_state().qpos.shape[0]
self.qvel_dim = self.sim.get_state().qvel.shape[0]
self.obs_dim = 22 + self.use_contacts * 6
self.act_dim = self.sim.data.actuator_length.shape[0]
# Reset env variables
self.step_ctr = 0
self.episodes = 0
# Sample initial configuration
init_q = np.concatenate((np.zeros(7), np.tile(
[0, -0.5, 0.5],
6))) #np.random.randn(self.q_dim).astype(np.float32) * 0.0
init_q[0] = 0.2 # np.random.rand() * 4 - 4
init_q[1] = 0.0 # np.random.rand() * 8 - 4
init_q[2] = 0.2
init_qvel = np.zeros(self.qvel_dim)
if init_pos is not None:
init_q[0:3] += init_pos
self.vel_sum = 0
# Init_quat
if self.rnd_init_yaw:
self.rnd_yaw = np.random.rand() * 1. - 0.5
else:
self.rnd_yaw = 0
rnd_quat = my_utils.rpy_to_quat(0, 0, self.rnd_yaw)
init_q[3:7] = rnd_quat
self.prev_deviation = np.min(
(abs((self.rnd_yaw % 6.183) - (0 % 6.183)), abs(self.rnd_yaw - 0)))
self.prev_y_deviation = 0
# Set environment state
self.set_state(init_q, init_qvel)
while True:
self.sim.forward()
self.sim.step()
if np.max(self.sim.get_state().qvel.tolist()[0:7]) < 0.1:
break
obs, _, _, _ = self.step(np.zeros(self.act_dim))
return obs
