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vel_control added

This commit is contained in:
Jerry Xu 2024-06-02 15:08:08 -04:00
parent 89f2970234
commit 8c183fd9ab
3 changed files with 7 additions and 5 deletions
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7
legged_gym/legged_gym/scripts/play.py
View File

@ -86,7 +86,7 @@ def play(args):
# override some parameters for testing # override some parameters for testing
if env_cfg.terrain.selected == "BarrierTrack": if env_cfg.terrain.selected == "BarrierTrack":
env_cfg.env.num_envs = min(env_cfg.env.num_envs, 1) env_cfg.env.num_envs = min(env_cfg.env.num_envs, 1)
env_cfg.env.episode_length_s = 5#20 env_cfg.env.episode_length_s = 3#20
env_cfg.terrain.max_init_terrain_level = 0 env_cfg.terrain.max_init_terrain_level = 0
env_cfg.terrain.num_rows = 1 env_cfg.terrain.num_rows = 1
env_cfg.terrain.num_cols = 1 env_cfg.terrain.num_cols = 1
@ -106,16 +106,17 @@ def play(args):
# "tilt", # "tilt",
] ]
env_cfg.terrain.BarrierTrack_kwargs["leap"] = dict( env_cfg.terrain.BarrierTrack_kwargs["leap"] = dict(
length= (1.0, 1.0), length= (1.5, 1.5),
depth= (0.4, 0.8), depth= (0.4, 0.8),
height= 0.2, height= 0.2,
) )
if "one_obstacle_per_track" in env_cfg.terrain.BarrierTrack_kwargs.keys(): if "one_obstacle_per_track" in env_cfg.terrain.BarrierTrack_kwargs.keys():
env_cfg.terrain.BarrierTrack_kwargs.pop("one_obstacle_per_track") env_cfg.terrain.BarrierTrack_kwargs.pop("one_obstacle_per_track")
env_cfg.terrain.BarrierTrack_kwargs["n_obstacles_per_track"] = 2# 2 env_cfg.terrain.BarrierTrack_kwargs["n_obstacles_per_track"] = 1# 2
env_cfg.commands.ranges.lin_vel_x = [1.5, 1.5] # [1.2, 1.2] env_cfg.commands.ranges.lin_vel_x = [1.5, 1.5] # [1.2, 1.2]
env_cfg.terrain.BarrierTrack_kwargs['track_block_length']= 2.0 env_cfg.terrain.BarrierTrack_kwargs['track_block_length']= 2.0
# env_cfg.terrain.BarrierTrack_kwargs['track_width'] = 2.0
if "distill" in args.task: if "distill" in args.task:
env_cfg.commands.ranges.lin_vel_x = [0.0, 0.0] env_cfg.commands.ranges.lin_vel_x = [0.0, 0.0]
env_cfg.commands.ranges.lin_vel_y = [-0., 0.] env_cfg.commands.ranges.lin_vel_y = [-0., 0.]

4
legged_gym/legged_gym/scripts/play_vel.py
View File

@ -106,7 +106,7 @@ def play(args):
# "tilt", # "tilt",
] ]
env_cfg.terrain.BarrierTrack_kwargs["leap"] = dict( env_cfg.terrain.BarrierTrack_kwargs["leap"] = dict(
length= (0.5, 1), length= (1.0, 1.0),
depth= (0.4, 0.8), depth= (0.4, 0.8),
height= 0.2, height= 0.2,
) )
@ -115,7 +115,7 @@ def play(args):
env_cfg.terrain.BarrierTrack_kwargs.pop("one_obstacle_per_track") env_cfg.terrain.BarrierTrack_kwargs.pop("one_obstacle_per_track")
env_cfg.terrain.BarrierTrack_kwargs["n_obstacles_per_track"] = 2# 2 env_cfg.terrain.BarrierTrack_kwargs["n_obstacles_per_track"] = 2# 2
env_cfg.commands.ranges.lin_vel_x = [3.0, 3.0] # [1.2, 1.2] env_cfg.commands.ranges.lin_vel_x = [3.0, 3.0] # [1.2, 1.2]
env_cfg.terrain.BarrierTrack_kwargs['track_block_length']= 3. env_cfg.terrain.BarrierTrack_kwargs['track_block_length']= 2.
if "distill" in args.task: if "distill" in args.task:
env_cfg.commands.ranges.lin_vel_x = [0.0, 0.0] env_cfg.commands.ranges.lin_vel_x = [0.0, 0.0]
env_cfg.commands.ranges.lin_vel_y = [-0., 0.] env_cfg.commands.ranges.lin_vel_y = [-0., 0.]

1
legged_gym/legged_gym/utils/terrain/barrier_track.py
View File

@ -66,6 +66,7 @@ class BarrierTrack:
"jump": 3, "jump": 3,
"leap": 4, "leap": 4,
} # track_id are aranged in this order } # track_id are aranged in this order
def __init__(self, cfg, num_robots: int) -> None: def __init__(self, cfg, num_robots: int) -> None:
self.cfg = cfg self.cfg = cfg
self.num_robots = num_robots self.num_robots = num_robots