How to train the duck in MuJoCo to walk forward?

[cocaston]

I changed gait_motions. I kept only "forward".
I opened part 4 in auto_waddle. Part 4 makes motions for slow, medium, and fast speeds.
Because i saw gait_motions is only used in part 4.

Then I ran --sweep to make a JSON file.
But when I used this file in runner.py, it crashed.

The error is:

Open_Duck_Playground/playground/common/poly_reference_motion.py", line 148, in process  
    self.data_array[x][y][th] = jp.array(_data[dx][dy][dtheta])  
                                         ~~~~~~~~~^^^^  
KeyError: -3.407

I just want to konw how to train the duck to walk forward? Thanks.

[apirrone]

Hi!

In joystick.py, here https://github.com/apirrone/Open_Duck_Playground/blob/1842c8f46a67cb5d6b74e5aaf08c8702cde6e74f/playground/open_duck_mini_v2/joystick.py#L272

we call PRM.get_reference_motion() with arguments dx, dy, dtheta. If the combination of (dx, dy, dtheta) doesn't exist in your .pkl reference motion, it will throw this KeyError. You have to edit the range of motion you want here https://github.com/apirrone/Open_Duck_Playground/blob/1842c8f46a67cb5d6b74e5aaf08c8702cde6e74f/playground/open_duck_mini_v2/joystick.py#L94