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refine model #7

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refine model #7

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66aba65
refine model
yasuohayashibara Feb 12, 2024
c5b091d
episode length 500
yasuohayashibara Feb 12, 2024
e24637e
change out of field reward
yasuohayashibara Feb 12, 2024
b9f4bfa
increase rollout_threads
yasuohayashibara Feb 12, 2024
1b3644a
refine model
yasuohayashibara Feb 12, 2024
3ba2a1c
tuning parameters
yasuohayashibara Feb 12, 2024
3db9e89
fix foot size
yasuohayashibara Feb 13, 2024
f23860e
fix foot size
yasuohayashibara Feb 13, 2024
ea70dbf
modify obs
yasuohayashibara Feb 13, 2024
ac20863
modify obs
yasuohayashibara Feb 13, 2024
9c3a093
executable
yasuohayashibara Feb 14, 2024
32808c0
add fall
yasuohayashibara Feb 14, 2024
8ad3168
selection_probability = 0.1
yasuohayashibara Feb 14, 2024
03ad865
opposite action
yasuohayashibara Feb 18, 2024
5ac85da
simulate humanoid
yasuohayashibara Feb 18, 2024
ef73b13
add new rewards
yasuohayashibara Feb 20, 2024
211c138
bugfix randomize angle
yasuohayashibara Feb 22, 2024
f2cbc50
adjust parameters
yasuohayashibara Feb 23, 2024
6d68b10
modify reward
yasuohayashibara Feb 24, 2024
d05655d
resolve
yasuohayashibara Feb 24, 2024
4bc6035
angle of view
yasuohayashibara Feb 24, 2024
e464822
for angle of view
yasuohayashibara Feb 26, 2024
b0925a3
add ball tracking reward
yasuohayashibara Feb 28, 2024
ed9dcc7
bugfix
yasuohayashibara Feb 28, 2024
202850d
local ball problem
yasuohayashibara Feb 28, 2024
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20 changes: 11 additions & 9 deletions assets/player_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,20 @@
<xacro:macro name="player" params="name color">
<link name="${name}">
<visual>
<origin xyz="-0.015 0.000 0.300"/>
<geometry>
<box size="0.14 0.2 0.6"/>
<box size="0.130 0.200 0.600"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz="-0.015 0.000 0.300"/>
<geometry>
<box size="0.14 0.2 0.6"/>
<box size="0.130 0.200 0.600"/>
</geometry>
</collision>
<inertial>
<origin xyz="-0.015 0.000 0.300"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.08"/>
</inertial>
Expand All @@ -39,37 +42,36 @@
<axis xyz="0 0 1"/>
<parent link="${name}_y"/>
<child link="${name}"/>
<origin xyz="0.03 0 0.3"/>
</joint>

<joint name="${name}_right_foot_joint" type="revolute">
<axis xyz="0 -1 0"/>
<parent link="${name}"/>
<child link="${name}_right_foot"/>
<origin xyz="0.10 -0.06 0"/>
<origin xyz="0.070 -0.055 0.250"/>
</joint>

<joint name="${name}_left_foot_joint" type="revolute">
<axis xyz="0 -1 0"/>
<parent link="${name}"/>
<child link="${name}_left_foot"/>
<origin xyz="0.10 0.06 0"/>
<origin xyz="0.070 0.055 0.250"/>
</joint>
</xacro:macro>

<xacro:macro name="player_foot" params="name">
<link name="${name}">
<visual>
<origin xyz="0 0 -0.18"/>
<origin xyz="0.000 0.000 -0.120"/>
<geometry>
<box size="0.05 0.1 0.2"/>
<box size="0.020 0.090 0.240"/>
</geometry>
<material name="yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.18"/>
<origin xyz="0.000 0.000 -0.120"/>
<geometry>
<box size="0.05 0.1 0.2"/>
<box size="0.020 0.090 0.240"/>
</geometry>
</collision>
<inertial>
Expand Down
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