spotmicro.OpenLoopSM package

Submodules

spotmicro.OpenLoopSM.SpotOL module

Open Loop Controller for Spot Micro. Takes GUI params or uses default

class spotmicro.OpenLoopSM.SpotOL.BezierStepper(pos=array([0., 0., 0.]), orn=array([0., 0., 0.]), StepLength=0.04, LateralFraction=0.0, YawRate=0.0, StepVelocity=0.001, ClearanceHeight=0.045, PenetrationDepth=0.003, episode_length=5000, dt=0.01, num_shuffles=2, mode=0)

Bases: object

COMBI()

Here, we can modify all the parameters

FB()

Here, we can modulate StepLength and StepVelocity

LAT()

Here, we can modulate StepLength and LateralFraction

ROT()

Here, we can modulate StepLength and YawRate

StateMachine()

State Machined used for training robust RL on top of OL gait.

STATES:

Forward/Backward: All Default Values.

Can have slow changes to StepLength(+-) and Velocity

Lateral: As above (fwd or bwd random) with added random

slow changing LateralFraction param

Rotating: As above except with YawRate

Combined: ALL changeable values may change!

StepLength StepVelocity LateralFraction YawRate

NOTE: the RL is solely responsible for modulating Clearance Height

and Penetration Depth

max_time = None

States 1: FWD/BWD 2: Lat 3: Rot 4: Combined

ramp_up()

reshuffle()

return_bezier_params()

which_state()

Module contents