def _robo_init(self, model_xml, robot_name, action_dim):
if self.servo:
RoboschoolForwardWalkerServo.__init__(self, power=2.5)
else:
RoboschoolForwardWalker.__init__(self, power=2.5)
RoboschoolMujocoXmlEnv.__init__(self,
model_xml,
robot_name,
action_dim=action_dim, obs_dim=70)
def __init__(self):
RoboschoolForwardWalker.__init__(self, power=0.30)
RoboschoolUrdfEnv.__init__(
self,
"atlas_description/urdf/atlas_v4_with_multisense.urdf",
"pelvis",
action_dim=30,
obs_dim=70,
fixed_base=False,
self_collision=True)
def _robo_init(self, model_urdf, robot_name, action_dim):
if self.servo:
RoboschoolForwardWalkerServo.__init__(self, power=0.30)
else:
RoboschoolForwardWalker.__init__(self, power=0.30)
RoboschoolUrdfEnv.__init__(self,
model_urdf,
robot_name,
action_dim=action_dim,
obs_dim=70,
fixed_base=False,
self_collision=True)
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
RoboschoolMujocoXmlEnv.__init__(self, fn, robot_name, action_dim,
obs_dim)
RoboschoolForwardWalker.__init__(self, power)
def __init__(self, power, state_dim):
self.last_state = np.random.rand(state_dim)
self.last_dist = 0
self.still_counter = 0
RoboschoolForwardWalker.__init__(self, power)
def __init__(self, fn, robot_name, action_dim, power):
urdfFilename = os.path.join(os.path.dirname(__file__), "models_robot",
fn)
self.velObservations = 0
sensorsObservations = 4 #4 legs from 0 or 1
rotationObservation = 3 #roll pith yaw
sinCosToTarget = 2 # sin cos from angle to target
servoObservation = 12 # rel angles
numObservation = sensorsObservations + rotationObservation + sinCosToTarget + servoObservation + self.velObservations
if hasattr(settings, "history1Len") == False:
settings.history1Len = 0.0
if hasattr(settings, "history2Len") == False:
settings.history2Len = 0.0
if hasattr(settings, "history3Len") == False:
settings.history3Len = 0.0
baseObservations = numObservation
if settings.history1Len > 0.0:
numObservation += baseObservations
if settings.history2Len > 0.0:
numObservation += baseObservations
if settings.history3Len > 0.0:
numObservation += baseObservations
RoboschoolUrdfEnv.__init__(self,
urdfFilename,
robot_name,
action_dim,
numObservation,
fixed_base=False,
self_collision=False)
RoboschoolForwardWalker.__init__(self, power)
self.servo_kp = 0.3
self.servo_kd = 0.9
self.servo_maxTorque = 2.0
self.time = 0.0
self.max_servo_speed = math.radians(230.0)
self.physics_time_step = 1.0 / 240.0
self.walk_target_x = 1000.0 # 1km meters
self.walk_target_z = 0.15
self.debugStats = 0
self.movement_dir = [1, 0, 0]
self.robotLibOn = 0
self.jointsLocalPos = {}
tree = ET.parse(urdfFilename)
root = tree.getroot()
for robot in root.iter('robot'):
for joint in robot.iter('joint'):
origin = joint.find("origin")
posStr = origin.attrib["xyz"].split(" ")
pos = [float(posStr[0]), float(posStr[1]), float(posStr[2])]
self.jointsLocalPos[joint.attrib["name"]] = pos
self.link1 = self.jointsLocalPos["fl3"]
self.link2 = self.jointsLocalPos["fl4"]
self.extLenX = 0.15 # 15 cm
self.extLenY = 0.15 # 15 cm
self.minZLeg = -0.2
self.maxZLeg = -0.02
self.minArea = [-self.extLenX, -self.extLenY,
self.minZLeg] # 20 cm away from chassis
self.maxArea = [+self.extLenX, +self.extLenY,
self.maxZLeg] # 2 cm from chassis
self.flMinArea = glm.vec3(self.minArea)
self.flMaxArea = glm.vec3(self.maxArea)
self.frMinArea = glm.vec3(self.minArea)
self.frMaxArea = glm.vec3(self.maxArea)
self.blMinArea = glm.vec3(self.minArea)
self.blMaxArea = glm.vec3(self.maxArea)
self.brMinArea = glm.vec3(self.minArea)
self.brMaxArea = glm.vec3(self.maxArea)
self.areaSize = [
self.maxArea[0] - self.minArea[0],
self.maxArea[1] - self.minArea[1],
self.maxArea[2] - self.minArea[2]
]
self.len1 = abs(self.link1[2])
self.len2 = abs(self.link2[2])
self.ActionIsAngles = False
self.ActionsIsAdditive = False
self.actionsMult = 1.0
self.chassisSpaceX = 0.30
self.chassisSpaceY = 0.20
self.chassisSpaceMin = [-self.chassisSpaceX, -self.chassisSpaceY, -0.2]
self.chassisSpaceMax = [
+self.chassisSpaceX, +self.chassisSpaceY, -0.02
]
self.inputsInChassisSpace = False
self.actionsInChassisSpace = False
self.inputsIsIKTargets = True
self.perLegSpace = True
if self.perLegSpace:
self.extLenYOut = 0.1 # 10 cm
self.extLenYIn = 0.03 # 2 cm
self.flMinArea = glm.vec3(-self.extLenX, -self.extLenYIn,
self.minZLeg)
self.flMaxArea = glm.vec3(self.extLenX, self.extLenYOut,
-self.maxZLeg)
self.blMinArea = glm.vec3(-self.extLenX, -self.extLenYIn,
self.minZLeg)
self.blMaxArea = glm.vec3(self.extLenX, self.extLenYOut,
-self.maxZLeg)
self.frMinArea = glm.vec3(-self.extLenX, -self.extLenYOut,
self.minZLeg)
self.frMaxArea = glm.vec3(self.extLenX, self.extLenYIn,
-self.maxZLeg)
self.brMinArea = glm.vec3(-self.extLenX, -self.extLenYOut,
self.minZLeg)
self.brMaxArea = glm.vec3(self.extLenX, self.extLenYIn,
-self.maxZLeg)
if settings.robotLibAvailable and hasattr(settings, "robotNN"):
if settings.robotNN == 0:
self.robotLibOn = 1
else:
self.robotLibOn = 0
self.robotLib = pyRobotLib.Robot()
self.robotLib.load(
"/Users/pavlogryb/Dropbox/Projects/Robot/Robot/Robot/")
print(os.getpid())