agent_superball.py 文件源码

def __init__(self, hyperparams):
        config = copy.deepcopy(agent_superball)
        config.update(hyperparams)
        Agent.__init__(self, config)

        self._sensor_types = set(self.x_data_types + self.obs_data_types)
        self.x0 = None
        self._sensor_readings = {}
        self._prev_sensor_readings = {}
        self._prev2_sensor_readings = {}

        if self._hyperparams['constraint']:
            import superball_kinematic_tool as skt
            self._constraint = skt.KinematicMotorConstraints(
                self._hyperparams['constraint_file'], **self._hyperparams['constraint_params']
            )
        rospy.init_node('superball_agent', disable_signals=True, log_level=rospy.DEBUG)
        self._state_update = False
        self._state_update_cv = threading.Condition()

        if 'state_estimator' in self._hyperparams and self._hyperparams['state_estimator']:
            self._state_sub = rospy.Subscriber(
                '/superball/state', SUPERballStateArray,
                callback=self._handle_state_msg, queue_size=1
            )
        else:
            self._state_sub = rospy.Subscriber(
                '/superball/state_sim', SUPERballStateArray,
                callback=self._handle_state_msg, queue_size=1
            )
        self._ctrl_pub = rospy.Publisher('/superball/control', String, queue_size=1)
        self._timestep_pub = rospy.Publisher('/superball/timestep', UInt16, queue_size=1)
        self._init_motor_pubs()
        self._compute_rel_pos = True
        self.reset(0)