Params.py

# coding: utf8
'''This class stores parameters about the replay'''
from pickle import TRUE
import numpy as np

class Params():
    def __init__(self):
        # Replay parameters
        self.replay_path = "demo_replay.npz"
        self.SIMULATION = False  # Run the replay in simulation if True
        self.LOGGING = True  # Save the logs of the experiments if True
        self.PLOTTING = True  # Plot the logs of the experiments if True

        # Control parameters
        self.dt = 0.001  # Time step of the replay
        self.Kp = np.array([6.0, 6.0, 6.0])  # Proportional gains for the PD+
        self.Kd = np.array([0.3, 0.3, 0.3])  # Derivative gains for the PD+
        self.Kff = 1.0  # Feedforward torques multiplier for the PD+

        # Other parameters
        self.config_file = "config_solo12.yaml"  #  Name of the yaml file containing hardware information

class RLParams():
    def __init__(self):
        # Replay parameters
        self.SIMULATION = True  # Run the replay in simulation if True
        self.LOGGING = False # Save the logs of the experiments if True
        self.PLOTTING = True # Save the logs of the experiments if True
        self.max_steps = 8000

        self.USE_JOYSTICK = False  # Control the robot with a joystick
        self.USE_PREDEFINED = True  # Use a predefined velocity profile

        # Control parameters
        self.dt = 0.001   
        self.control_dt = 0.01
        self.Kp = np.array([3.0, 3.0, 3.0]*4)  # Proportional gains for the PD+
        self.Kd = np.array([0.2, 0.2, 0.2]*4)  # Derivative gains for the PD+
        self.Kff = 0.0  # Feedforward torques multiplier for the PD+

        self.enable_lateral_vel = True
        self.symmetric_pose = True

        self.q_init = np.array([-0.04, 0.7, -1.4, 0.04, 0.7, -1.4, \
                                -0.04, 0.7, -1.4, 0.04, 0.7, -1.4])

        if self.symmetric_pose:
            self.q_init = np.array([-0.04, 0.8, -1.6, 0.04, 0.8, -1.6, \
                                    -0.04, -0.8, 1.6, 0.04, -0.8, 1.6])
           
        self.alpha = 0.#3569

        # Other parameters
        self.config_file = "config_solo12.yaml"  #  Name of the yaml file containing hardware information
        self.record_video = False