Apollo3D/Gym_CPU
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fxxk the bahirt and the add Walk gym

Browse Source
This commit is contained in:
徐学颢
2026-03-12 19:59:07 +08:00
parent 0e402c2b4c
commit 092fb521e1
4 changed files with 309 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
behaviors/custom/reinforcement/walk/walk.py
View File

@@ -98,8 +98,12 @@ class Walk(Behavior):
velocity[0] = np.clip(velocity[0], -0.5, 0.5)
velocity[1] = np.clip(velocity[1], -0.25, 0.25)
radian_joint_positions = np.deg2rad(list(robot.motor_positions.values()))
radian_joint_speeds = np.deg2rad(list(robot.motor_speeds.values()))
radian_joint_positions = np.deg2rad(
[robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS]
)
radian_joint_speeds = np.deg2rad(
[robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS]
)
qpos_qvel_previous_action = np.vstack(
(