def robot_specific_reset(self):
self.rewards_progress = []
self.reward_angleDiff = []
self.reward_alive = []
self.ordered_joints = []
self.jdict = {}
self.jointToUse = [
"fl1", "fl2", "fl3", "fr1", "fr2", "fr3", "bl1", "bl2", "bl3",
"br1", "br2", "br3"
]
for j in self.urdf.joints:
if j.name in self.jointToUse:
#print("\tJoint '%s' limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((j.name,) + j.limits()) )
j.servo_target = 0.0
j.set_servo_target(j.servo_target, self.servo_kp,
self.servo_kd, self.servo_maxTorque)
j.power_coef, j.max_velocity = j.limits()[2:4]
self.ordered_joints.append(j)
self.jdict[j.name] = j
continue
self.iklinks_fl = [
self.jdict["fl1"], self.jdict["fl2"], self.jdict["fl3"]
]
self.iklinks_fr = [
self.jdict["fr1"], self.jdict["fr2"], self.jdict["fr3"]
]
self.iklinks_bl = [
self.jdict["bl1"], self.jdict["bl2"], self.jdict["bl3"]
]
self.iklinks_br = [
self.jdict["br1"], self.jdict["br2"], self.jdict["br3"]
]
self.setupEnergyCost("fl")
self.setupEnergyCost("fr")
self.setupEnergyCost("bl")
self.setupEnergyCost("br")
RoboschoolForwardWalker.robot_specific_reset(self)
self.body_xyz = [-0.3, 0, 0.18]
RoboschoolForwardWalker.move_robot(self, self.body_xyz[0],
self.body_xyz[1], self.body_xyz[2])
self.numStepsPerSecond = 1.0 / self.physics_time_step
self.numSecondsToTrack = 1.0
self.walked_distance = deque(maxlen=int(self.numSecondsToTrack *
self.numStepsPerSecond))
self.progressHistory = deque(maxlen=int(self.numSecondsToTrack *
self.numStepsPerSecond))
if settings.history1Len > 0.0:
self.history1 = deque(maxlen=int(settings.history1Len *
self.numStepsPerSecond))
if settings.history2Len > 0.0:
self.history2 = deque(maxlen=int(settings.history2Len *
self.numStepsPerSecond))
if settings.history3Len > 0.0:
self.history3 = deque(maxlen=int(settings.history3Len *
self.numStepsPerSecond))
if self.robotLibOn:
self.robotLib.executeCommand("cmd#zero")
def _robot_specific_reset(self):
if self.servo:
RoboschoolForwardWalkerServo.robot_specific_reset(self)
else:
RoboschoolForwardWalker.robot_specific_reset(self)
self.set_initial_orientation(yaw_center=0, yaw_random_spread=np.pi)
def robot_specific_reset(self):
RoboschoolForwardWalker.robot_specific_reset(self)
self.set_initial_orientation(yaw_center=0, yaw_random_spread=np.pi)
self.head = self.parts["head"]