Exemplo n.º 1
0
        env = CarlaEnv()
        break
    except Exception as e:
        print(e)
max_episodes = 100
max_steps = 1800
control = Controller()

for i in range(int(max_episodes)):

    s = env.reset()

    counter = 0
    while True:
        if counter == 0:
            a = control.action(s[0], s[3], s[1], 0.001, controller_type="LQR")
        else:
            a = control.action(s[0], s[3], s[1], s[2], controller_type="LQR")

        s2, r, terminal, info = env.step(a[0])

        s = s2
        counter += 1
        if terminal:
            history_pos = last_info["history"]
            history_xte = last_info["xte_history"]
            history_vel = last_info["velError_history"]
            with open("stored_data/car_history_H2_2.pkl", "wb") as hand:
                pickle.dump(history_pos, hand)
            with open("stored_data/car_history_H2_2_xte.pkl", 'wb') as hand:
                pickle.dump(history_xte, hand)
Exemplo n.º 2
0
finally:
    # 断开服务器链接
    if robot.connected:
        # 关闭机械臂
        robot.robot_shutdown()
        # 断开机械臂链接
        robot.disconnect()
        print("Disconnected")
    # 释放库资源
    WuziRobot.uninitialize()
    logger.info("{0} test completed.".format(WuziRobot.get_local_time()))

# Stop streaming
pipeline.stop()

import time
time.sleep(1)

robot_first = True
controller = Controller(True)

if robot_first:
    controller.action(None)
new_chess = controller.wait_human()

while 1:
    if controller.action(new_chess) is None:
        break
    new_chess = controller.wait_human()
controller.disconnect()