Rune Harlyk
25 lines
567 B
Python
25 lines
567 B
Python
from simulation.environment import QuadrupedEnv
|
|
from training.model import SimpleNN
|
|
|
|
import resources as resources
|
|
|
|
|
|
def main():
|
|
env = QuadrupedEnv(resources.getDataPath() + "/spot.urdf")
|
|
env.reset()
|
|
|
|
input_size = env.robot.get_observation().shape[0]
|
|
output_size = env.robot.get_observation().shape[0]
|
|
agent = SimpleNN(input_size, output_size)
|
|
|
|
done = False
|
|
observation = []
|
|
|
|
while not done:
|
|
action = agent.select_action(observation)
|
|
observation, reward, done = env.step(action)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|