ConvertFromLegModel

This is a confusing bit of code

  def ConvertFromLegModel(self, actions):
    """Convert the actions that use leg model to the real motor actions.
    Args:
      actions: The theta, phi of the leg model.
    Returns:
      The eight desired motor angles that can be used in ApplyActions().
    """
  

 COPY THE ACTIONS.

    motor_angle = copy.deepcopy(actions)

DEFINE SOME THINGS

    scale_for_singularity = 1
    offset_for_singularity = 1.5
    half_num_motors = int(self.num_motors / 2)
    quarter_pi = math.pi / 4

FOR EVERY MOTOR

    for i in range(self.num_motors):

THE ACTION INDEX IS THE FLOOR OF HALF. 00112233
      action_idx = int(i // 2)

WELL, SO, THE FORWARD BACKWARD COMPONENT is 
negative thingy times 45 degrees times (the action of the index plus half the motors.... plus the offset thingy)

      forward_backward_component = (
          -scale_for_singularity * quarter_pi *
          (actions[action_idx + half_num_motors] + offset_for_singularity))

AND SO THE EXTENSION COMPONENT IS either + or - 45 degrees times the action.

      extension_component = (-1)**i * quarter_pi * actions[action_idx]

IF 4,5,6,7 MAKE THAT THING NEGATIVE.

      if i >= half_num_motors:
        extension_component = -extension_component

THE ANGLE IS... PI + thingy 1 + thingy 2.

      motor_angle[i] = (math.pi + forward_backward_component + extension_component)



    return motor_angle

Ok my error is,

  File "/opt/gym-robotable/gym_robotable/envs/robotable_gym_env.py", line 350, in step
    action = self._transform_action_to_motor_command(action)
  File "/opt/gym-robotable/gym_robotable/envs/robotable_gym_env.py", line 313, in _transform_action_to_motor_command
    action = self.robotable.ConvertFromLegModel(action)
AttributeError: 'Robotable' object has no attribute 'ConvertFromLegModel'

Ok anyway i debugged for an hour and now it’s doing something. it’s saving numpy files now.

policy_RobotableEnv-v0_20200516-192435.npy contains:

�NUMPY
v{‘descr’: ‘<f8’, ‘fortran_order’: False, ‘shape’: (4, 16), }

Cool.

But yeah i had to comment out a lot of stuff. Seems like the actions it’s generating are mostly 0.

Since I simplified to a table, turns out I don’t need any of that ConvertFromLegModel code.

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Ok anyway, i started over with minitaur. lol. why are there two tables? Changing the motorDirections gave me this. Good progress.