def main():
arg_parser = argparse.ArgumentParser()
arg_parser.add_argument("--seed", dest="seed", type=int, default=None)
arg_parser.add_argument("--visualize",
dest="visualize",
action="store_true",
default=True)
args = arg_parser.parse_args()
env = env_builder.build_laikago_env(enable_rendering=args.visualize)
test(env=env)
return
def main():
arg_parser = argparse.ArgumentParser()
arg_parser.add_argument("--seed", dest="seed", type=int, default=None)
arg_parser.add_argument("--visualize",
dest="visualize",
action="store_true",
default=True)
args = arg_parser.parse_args()
env = env_builder.build_laikago_env(
motor_control_mode=robot_config.MotorControlMode.POSITION,
enable_rendering=args.visualize)
test(env=env)
return
def _run_example(max_time=_MAX_TIME_SECONDS):
"""Runs the locomotion controller example."""
env = env_builder.build_laikago_env( motor_control_mode = robot_config.MotorControlMode.HYBRID, enable_rendering=True)
env.reset()
controller = _setup_controller(env.robot)
controller.reset()
current_time = env.robot.GetTimeSinceReset()
while current_time < max_time:
# Updates the controller behavior parameters.
lin_speed, ang_speed = _generate_example_linear_angular_speed(current_time)
_update_controller_params(controller, lin_speed, ang_speed)
# Needed before every call to get_action().
controller.update()
hybrid_action = controller.get_action()
env.step(hybrid_action)
current_time = env.robot.GetTimeSinceReset()