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46 lines
1.4 KiB
Python
46 lines
1.4 KiB
Python
7 months ago
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from agent.Base_Agent import Base_Agent as Agent
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from itertools import count
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from scripts.commons.Script import Script
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import numpy as np
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'''
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Objective:
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----------
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Fall and get up
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'''
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class Get_Up():
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def __init__(self, script:Script) -> None:
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self.script = script
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self.player : Agent = None
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def sync(self):
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r = self.player.world.robot
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self.player.scom.commit_and_send( r.get_command() )
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self.player.scom.receive()
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def execute(self):
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a = self.script.args
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player = self.player = Agent(a.i, a.p, a.m, a.u, a.r, a.t) # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name
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behavior = player.behavior
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r = player.world.robot
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player.scom.commit_beam((-3,0),0)
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print("\nPress ctrl+c to return.")
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for i in count():
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rnd = np.random.uniform(-6,6,r.no_of_joints)
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# Fall
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while r.loc_head_z > 0.3 and r.imu_torso_inclination < 50:
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if i < 4:
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behavior.execute(["Fall_Front","Fall_Back","Fall_Left","Fall_Right"][i % 4]) # First, fall deterministically
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else:
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r.joints_target_speed[:] = rnd # Second, fall randomly
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self.sync()
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# Get up
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behavior.execute_to_completion("Get_Up")
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behavior.execute_to_completion("Zero_Bent_Knees")
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