now minitaur class can output joint angles, velocities and torques. I also extract evaluate functions to a file

examples/pybullet/minitaur_test.py

@@ -1,6 +1,7 @@
 import pybullet as p
 
 from minitaur import Minitaur
+import minitaur_evaluate
 import time
 import math
 import numpy as np
@@ -10,24 +11,30 @@ def main(unused_args):
   c = p.connect(p.SHARED_MEMORY)
   if (c<0):
       c = p.connect(p.GUI)
-  p.resetSimulation()
-  p.setTimeStep(timeStep)
-  p.loadURDF("plane.urdf")
-  p.setGravity(0,0,-10)
 
-  minitaur = Minitaur()
   amplitude = 0.24795664427
   speed = 0.2860877729434
-  for i in range(1000):
-    a1 = math.sin(i*speed)*amplitude+1.57
-    a2 = math.sin(i*speed+3.14)*amplitude+1.57
-    joint_values = [a1, 1.57, a2, 1.57, 1.57, a1, 1.57, a2]
-    minitaur.applyAction(joint_values)
 
-    p.stepSimulation()
-#    print(minitaur.getBasePosition())
-    time.sleep(timeStep)
-  final_distance = np.linalg.norm(np.asarray(minitaur.getBasePosition()))
+  final_distance = minitaur_evaluate.evaluate_params_hop(params=[amplitude, speed], timeStep=timeStep, sleepTime=timeStep)
   print(final_distance)
 
+  # p.resetSimulation()
+  # p.setTimeStep(timeStep)
+  # p.loadURDF("plane.urdf")
+  # p.setGravity(0,0,-10)
+
+  # minitaur = Minitaur()
+
+  # for i in range(1000):
+  #   a1 = math.sin(i*speed)*amplitude+1.57
+  #   a2 = math.sin(i*speed+3.14)*amplitude+1.57
+  #   joint_values = [a1, 1.57, a2, 1.57, 1.57, a1, 1.57, a2]
+  #   minitaur.applyAction(joint_values)
+  #   torques = minitaur.getMotorTorques()
+  #   print(torques)
+  #   p.stepSimulation()
+  #   time.sleep(timeStep)
+  # final_distance = np.linalg.norm(np.asarray(minitaur.getBasePosition()))
+  # print(final_distance)
+
 main(0)