run_policy.py 文件源码

def __init__(self, use_acc_only):
        self._init_obs()
        config = copy.deepcopy(HYPERPARAMS)
        self._hyperparams = config

        self._use_acc_only = use_acc_only

        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._obs_update_lock = threading.Lock()
        self._motor_pos_sub = rospy.Subscriber(
            '/ranging_data_matlab', Float32MultiArray,
            callback=self._motor_pos_cb, queue_size=1
        )
        self._imu_sub = []
        for i in range(12):
            self._imu_sub.append(
                rospy.Subscriber(
                    SUPERBALL_IMU_TOPICS[i], Imu,
                    callback=self._imu_cb, 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._run_sim = False
        self._sim_thread = threading.Thread(target=self._continue_simulation)
        self._sim_thread.daemon = True
        self._sim_thread.start()
        self._action_rate = rospy.Rate(10)