def think(self, perception):
action = super(PIDAgent, self).think(perception)
'''calculate control vector (speeds) from
perception.joint: current joints' positions (dict: joint_id -> position (current))
self.target_joints: target positions (dict: joint_id -> position (target)) '''
joint_angles = np.asarray(
[perception.joint[joint_id] for joint_id in JOINT_CMD_NAMES])
target_angles = np.asarray([self.target_joints.get(joint_id,
perception.joint[joint_id]) for joint_id in JOINT_CMD_NAMES])
u = self.joint_controller.control(target_angles, joint_angles)
action.speed = dict(zip(JOINT_CMD_NAMES.iterkeys(), u)) # dict: joint_id -> speed
return action
def think(self, perception):
action = super(PIDAgent, self).think(perception)
'''calculate control vector (speeds) from
perception.joint: current joints' positions (dict: joint_id -> position (current))
self.target_joints: target positions (dict: joint_id -> position (target)) '''
joint_angles = np.asarray(
[perception.joint[joint_id] for joint_id in JOINT_CMD_NAMES])
target_angles = np.asarray([self.target_joints.get(joint_id,
perception.joint[joint_id]) for joint_id in JOINT_CMD_NAMES])
u = self.joint_controller.control(target_angles, joint_angles)
action.speed = dict(zip(JOINT_CMD_NAMES.iterkeys(), u)) # dict: joint_id -> speed
return action
def think(self, perception):
if self.still:
return super(AngleInterpolationAgent, self).think(perception)
target_joints = self.angle_interpolation(perception)
self.target_joints.update(target_joints)
self.target_joints_log.append(self.target_joints.copy())
self.joints_log.append(perception.joint.copy())
result = super(AngleInterpolationAgent, self).think(perception)
self.actions_log.append(
dict(zip(JOINT_CMD_NAMES.iterkeys(), self.joint_controller.u)))
return result
def think(self, perception):
# What is SparkAgent.think method doing?
action = super(PIDAgent, self).think(perception)
# calculate control vector (speeds) from perception.joint, self.target_joints
joint_angles = np.asarray(
[perception.joint[joint_id] for joint_id in JOINT_CMD_NAMES])
target_angles = np.asarray([self.target_joints.get(joint_id,
perception.joint[joint_id]) for joint_id in JOINT_CMD_NAMES])
# Here, PIDController.control() method is called to determine this timestep's actions
u = self.joint_controller.control(target_angles, joint_angles)
# Prepare for return
action.speed = dict(zip(JOINT_CMD_NAMES.iterkeys(), u)) # dict: joint_id -> speed
return action
