class RaiseRightHand(Action):
def __init__(self):
super().__init__()
self.m = Minidora(self_host='0.0.0.0',
minidora_host='minidora-v0-yayoi.local')
def activate(self):
# Called when action activated
super().activate()
smdata = ServoMotorData()
smdata.arm.right = 1.0
self.m.move_servo_motor(smdata)
def update(self):
# Called every frame while action is activated
super().update()
def deactivate(self):
# Called when action deactivated
super().deactivate()
smdata = ServoMotorData()
smdata.arm.right = 0.0
self.m.move_servo_motor(smdata)
def __init__(self, localhost, remotehost):
super(MinidoraEnv, self).__init__(10)
self.client = Minidora(self_host=localhost, minidora_host=remotehost)
self.image = None
self.pose = None
def update_camera(image):
self.image = image
def update_pose(pose):
self.pose = pose
self.image_thread = self.client.listen_to_camera(update_camera)
self.pose_thread = self.client.listen_to_pose(update_pose)
class RandomMove(Action):
def __init__(self):
super().__init__()
self.m = Minidora(self_host='0.0.0.0', minidora_host='minidora-v0-yayoi.local')
def activate(self):
# Called when action activated
super().activate()
smdata = ServoMotorData()
smdata.arm.left = 1.0
smdata.arm.right = 1.0
smdata.head.roll = 0.0
self.m.move_servo_motor(smdata)
def update(self):
# Called every frame while action is activated
super().update()
if (random.random() < 0.005):
smdata = ServoMotorData()
smdata.arm.left = random.random()
smdata.arm.right = random.random()
self.m.move_servo_motor(smdata)
def deactivate(self):
# Called when action deactivated
super().deactivate()
smdata = ServoMotorData()
smdata.arm.left = 0.0
smdata.arm.right = 0.0
smdata.head.roll = 0.0
self.m.move_servo_motor(smdata)
class MinidoraEnv(Environment):
def __init__(self, localhost, remotehost):
super(MinidoraEnv, self).__init__(10)
self.client = Minidora(self_host=localhost, minidora_host=remotehost)
self.image = None
self.pose = None
def update_camera(image):
self.image = image
def update_pose(pose):
self.pose = pose
self.image_thread = self.client.listen_to_camera(update_camera,
block=False)
self.pose_thread = self.client.listen_to_pose(update_pose, block=False)
while self.pose is None or self.image is None:
continue
def step(self, action):
larm = action[0]
rarm = action[1]
lleg = action[2]
rleg = action[3]
servo = ServoMotorData()
servo.arm.left = (larm / 2 + 0.5)
servo.arm.right = (rarm / 2 + 0.5)
self.client.move_servo_motor(servo)
dc = DcMotorData()
dc.wheel.left = lleg * 100
dc.wheel.right = rleg * 100
self.client.move_dc_motor(dc)
observation = {
'image': self.image,
'pose': self.pose,
}
reward = 1
done = None
info = None
return observation, reward, done, info
def render(self):
pass
def reset(self):
pass
class MinidoraEnv(Environment):
def __init__(self, localhost, remotehost):
super(MinidoraEnv, self).__init__(10)
self.client = Minidora(self_host=localhost, minidora_host=remotehost)
self.image = None
self.pose = None
def update_camera(image):
self.image = image
def update_pose(pose):
self.pose = pose
self.image_thread = self.client.listen_to_camera(update_camera)
self.pose_thread = self.client.listen_to_pose(update_pose)
#while self.pose is None or self.image is None:
# continue
def step(self, action):
servo = ServoMotorData()
if "armleft" in action: servo.arm.left = (action["armleft"] / 2 + 0.5)
if "armright" in action:
servo.arm.right = (action["armright"] / 2 + 0.5)
if "headroll" in action: servo.head.roll = action["headroll"]
if "headpitch" in action: servo.head.pitch = action["headpitch"]
if "headyaw" in action: servo.head.yaw = action["headyaw"]
self.client.move_servo_motor(servo)
dc = DcMotorData()
if "wheelleft" in action: dc.wheel.left = action["wheelleft"] * 100
if "wheelright" in action: dc.wheel.right = action["wheelright"] * 100
self.client.move_dc_motor(dc)
observation = {
'image': self.image,
'pose': self.pose,
}
reward = 1
done = None
info = None
return observation, reward, done, info
def render(self):
pass
def reset(self):
pass
def __init__(self):
super().__init__()
self.m = Minidora(self_host='0.0.0.0', minidora_host='minidora-v0-yayoi.local')
import cv2
import time
import random
from minidora import Minidora
from minidora.servo_motor import ServoMotorData
m = Minidora(self_host='0.0.0.0', minidora_host='minidora-v0-yayoi.local')
if __name__ == "__main__":
while (True):
smdata = ServoMotorData()
smdata.arm.left = 1.0
smdata.arm.right = 1.0
smdata.head.roll = 0.0
m.move_servo_motor(smdata)
time.sleep(10.0)