def get_neutral_motor_angles(robot_class):
"""Return a neutral (standing) pose for a given robot type.
Args:
robot_class: This returns the class (not the instance) for the robot.
Currently it supports minitaur, laikago and mini-cheetah.
Returns:
Pose object for the given robot. It's either MinitaurPose, LaikagoPose or
MiniCheetahPose.
Raises:
ValueError: If the given robot_class is different than the supported robots.
"""
if str(robot_class) == str(laikago.Laikago):
init_pose = np.array(
attr.astuple(
laikago_pose_utils.LaikagoPose(
abduction_angle_0=0,
hip_angle_0=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
knee_angle_0=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
abduction_angle_1=0,
hip_angle_1=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
knee_angle_1=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
abduction_angle_2=0,
hip_angle_2=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
knee_angle_2=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
abduction_angle_3=0,
hip_angle_3=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
knee_angle_3=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE)))
else:
init_pose = robot_class.get_neutral_motor_angles()
return init_pose
def __init__(
self,
init_abduction=laikago_pose_utils.LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
init_hip=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
init_knee=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
action_limit=0.5,
):
"""Initializes the controller.
Args:
action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
"""
self._pose = np.array(
attr.astuple(
laikago_pose_utils.LaikagoPose(abduction_angle_0=init_abduction,
hip_angle_0=init_hip,
knee_angle_0=init_knee,
abduction_angle_1=init_abduction,
hip_angle_1=init_hip,
knee_angle_1=init_knee,
abduction_angle_2=init_abduction,
hip_angle_2=init_hip,
knee_angle_2=init_knee,
abduction_angle_3=init_abduction,
hip_angle_3=init_hip,
knee_angle_3=init_knee)))
action_high = np.array([action_limit] * 12)
self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
def __init__(
self,
pose,
action_limit=0.5,
):
"""Initializes the controller.
Args:
action_limit: a tuple of [limit_abduction, limit_hip, limit_knee]
"""
self._pose = np.array(
attr.astuple(
laikago_pose_utils.LaikagoPose(abduction_angle_0=pose[0],
hip_angle_0=pose[1],
knee_angle_0=pose[2],
abduction_angle_1=pose[3],
hip_angle_1=pose[4],
knee_angle_1=pose[5],
abduction_angle_2=pose[6],
hip_angle_2=pose[7],
knee_angle_2=pose[8],
abduction_angle_3=pose[9],
hip_angle_3=pose[10],
knee_angle_3=pose[11])))
action_high = np.array([action_limit] * 12)
self.action_space = spaces.Box(-action_high,
action_high,
dtype=np.float32)