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Code Issues Releases Wiki Activity

Enable randomized reset for Humanoid.

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This commit is contained in:
Benelot 2017-09-14 12:53:12 +02:00
parent 2e8a86462f
commit 3f57fb655a
1 changed files with 19 additions and 17 deletions
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36
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@ -152,23 +152,25 @@ class Humanoid(WalkerBase):
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
# cpose = cpp_household.Pose()
# yaw = self.np_random.uniform(low=-3.14, high=3.14)
# if self.random_lean and self.np_random.randint(2)==0:
# cpose.set_xyz(0, 0, 1.4)
# if self.np_random.randint(2)==0:
# pitch = np.pi/2
# cpose.set_xyz(0, 0, 0.45)
# else:
# pitch = np.pi*3/2
# cpose.set_xyz(0, 0, 0.25)
# roll = 0
# cpose.set_rpy(roll, pitch, yaw)
# else:
# cpose.set_xyz(0, 0, 1.4)
# cpose.set_rpy(0, 0, yaw) # just face random direction, but stay straight otherwise
# self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
if self.random_yaw:
position = [0,0,0]
orientation = [0,0,0]
yaw = self.np_random.uniform(low=-3.14, high=3.14)
if self.random_lean and self.np_random.randint(2)==0:
cpose.set_xyz(0, 0, 1.4)
if self.np_random.randint(2)==0:
pitch = np.pi/2
position = [0, 0, 0.45]
else:
pitch = np.pi*3/2
position = [0, 0, 0.25]
roll = 0
orientation = [roll, pitch, yaw]
else:
position = [0, 0, 1.4]
orientation = [0, 0, yaw] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(orientation)
self.initial_z = 0.8
random_yaw = False