51 lines
2.2 KiB
Python
51 lines
2.2 KiB
Python
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from isaacgym import gymutil, gymapi
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import torch
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from params_proto import Meta
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from typing import Union
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from go1_gym.envs.base.legged_robot import LeggedRobot
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from go1_gym.envs.base.legged_robot_config import Cfg
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class VelocityTrackingEasyEnv(LeggedRobot):
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def __init__(self, sim_device, headless, num_envs=None, prone=False, deploy=False,
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cfg: Cfg = None, eval_cfg: Cfg = None, initial_dynamics_dict=None, physics_engine="SIM_PHYSX"):
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if num_envs is not None:
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cfg.env.num_envs = num_envs
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sim_params = gymapi.SimParams()
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gymutil.parse_sim_config(vars(cfg.sim), sim_params)
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super().__init__(cfg, sim_params, physics_engine, sim_device, headless, eval_cfg, initial_dynamics_dict)
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def step(self, actions):
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self.obs_buf, self.privileged_obs_buf, self.rew_buf, self.reset_buf, self.extras = super().step(actions)
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self.foot_positions = self.rigid_body_state.view(self.num_envs, self.num_bodies, 13)[:, self.feet_indices,
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0:3]
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self.extras.update({
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"privileged_obs": self.privileged_obs_buf,
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"joint_pos": self.dof_pos.cpu().numpy(),
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"joint_vel": self.dof_vel.cpu().numpy(),
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"joint_pos_target": self.joint_pos_target.cpu().detach().numpy(),
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"joint_vel_target": torch.zeros(12),
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"body_linear_vel": self.base_lin_vel.cpu().detach().numpy(),
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"body_angular_vel": self.base_ang_vel.cpu().detach().numpy(),
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"body_linear_vel_cmd": self.commands.cpu().numpy()[:, 0:2],
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"body_angular_vel_cmd": self.commands.cpu().numpy()[:, 2:],
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"contact_states": (self.contact_forces[:, self.feet_indices, 2] > 1.).detach().cpu().numpy().copy(),
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"foot_positions": (self.foot_positions).detach().cpu().numpy().copy(),
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"body_pos": self.root_states[:, 0:3].detach().cpu().numpy(),
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"torques": self.torques.detach().cpu().numpy()
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})
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return self.obs_buf, self.rew_buf, self.reset_buf, self.extras
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def reset(self):
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self.reset_idx(torch.arange(self.num_envs, device=self.device))
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obs, _, _, _ = self.step(torch.zeros(self.num_envs, self.num_actions, device=self.device, requires_grad=False))
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return obs
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