def __init__(self, char_file, ctrl_file):
# NOTICE humanoid.txt and humanoid.urdf have different scales, urdf is 4x larger
self._kin_core = KinematicCore.cKinematicCore(char_file)
### all private members
self.joints = None
self.bodys = None
self.dof = None
self.expdof = None
# TODO move to function
self.num_joints = None
self.joint_types = None
self.joint_dof = None
self.pos_start = None # start position in pose/vel vec
self.act_start = None # start position in action vec
self.joint_w = None
# control configuration
self.kp = None
self.kd = None
self.a_max = None
self.a_min = None
### all private members
self._calc_kin_info(char_file)
self._calc_ctrl_info(ctrl_file)
def calc_reward(self):
char = self._skeleton._kin_core.getCharacter()
kin_energy = KinematicCore.kinematicEnergy(char, True)
rwd = (kin_energy - self._low) / self._gap
rwd = np.clip(rwd, 0, 1)
return rwd
def calc_volume(self):
try:
char = self._skeleton._kin_core.getCharacter()
volume = KinematicCore.jointConvexHullVolume(char, self._nodes)
except:
from IPython import embed
embed()
return volume
def get_energy_statistics(self):
# get position of body parts and com
l = max(len(self._frames), 120)
spf = self._cycletime / (l + 1)
kin_energies = []
for i in range(l):
t = i * spf
cnt, pose, vel = self.slerp(t)
self._skeleton.set_pose(pose)
self._skeleton.set_vel(vel)
char = self._skeleton._kin_core.getCharacter()
e_rel = KinematicCore.kinematicEnergy(char, True)
kin_energies.append(e_rel)
return box_param(kin_energies)
def _butterworth_filter(self, vels):
# TODO butterworth filter
for i in range(vels.shape[1]):
vels[:,
i] = KinematicCore.butterworthFilter(self._spf, 6, vels[:, i])
return vels
def get_kin_energy(self):
char = self._skeleton._kin_core.getCharacter()
kin_energy = KinematicCore.kinematicEnergy(char, True)
return kin_energy