def CPG_transfer(self, RL_output):
#print(RL_output)
self.CPG_controller.update(RL_output)
# if self.t % 100 == 0:
# #CPG_controller.update(RL_output)
# print(RL_output)
###adjust CPG_neutron parm using RL_output
output_list = self.CPG_controller.output(state=None)
# ignore some cell
target_joint_angles = np.array([
output_list[1],
0,
0,
0,
output_list[2],
output_list[3],
output_list[4],
output_list[5],
output_list[6],
output_list[7],
output_list[8],
output_list[9],
output_list[10],
output_list[11],
output_list[12],
output_list[13],
output_list[14],
])
cur_angles = np.concatenate(
[state_M.dot(self.sim.data.qpos[7:].reshape((-1, 1))).flat])
action = PID_controller(cur_angles, target_joint_angles)
return action
def CPG_transfer(RL_output, CPG_controller, obs, t):
#CPG_controller.update(RL_output)
# adjust CPG_neutron parm using RL_output
output_list = CPG_controller.output(state=None)
target_joint_angles = np.array(output_list[1:])
cur_angles = obs[obs_low:obs_high]
action = PID_controller(cur_angles, target_joint_angles)
return action
def CPG_transfer(self,RL_output, CPG_controller ):
#print(RL_output)
CPG_controller.update(RL_output)
# if self.t % 100 == 0:
# #CPG_controller.update(RL_output)
# print(RL_output)
###adjust CPG_neutron parm using RL_output
output_list = CPG_controller.output(state=None)
target_joint_angles = np.array(output_list[1:])# CPG 第一个输出为placemarke
cur_angles = np.concatenate([state_M.dot(self.model.data.qpos[7:].reshape((-1, 1))).flat])
action = PID_controller(cur_angles, target_joint_angles)
return action