Adding cat.
This commit is contained in:
jogima-cyber
parent
72b6438d3a
commit
4d5f2460b7
|
|
@ -294,6 +294,7 @@ class CaTAgent:
|
|||
"contact_state": self.contact_state[np.newaxis, :],
|
||||
"body_linear_vel_cmd": self.commands[np.newaxis, 0:2],
|
||||
"body_angular_vel_cmd": self.commands[np.newaxis, 2:],
|
||||
"torques": self.torques
|
||||
}
|
||||
|
||||
self.timestep += 1
|
||||
|
|
|
|||
|
|
@ -25,7 +25,23 @@
|
|||
"cell_type": "code",
|
||||
"execution_count": 1,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"outputs": [
|
||||
{
|
||||
"ename": "ImportError",
|
||||
"evalue": "this platform is not supported: ('failed to acquire X connection: Can\\'t connect to display \":1\": b\\'Authorization required, but no authorization protocol specified\\\\n\\'', DisplayConnectionError(':1', b'Authorization required, but no authorization protocol specified\\n'))\n\nTry one of the following resolutions:\n\n * Please make sure that you have an X server running, and that the DISPLAY environment variable is set correctly",
|
||||
"output_type": "error",
|
||||
"traceback": [
|
||||
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||
"\u001b[0;31mImportError\u001b[0m Traceback (most recent call last)",
|
||||
"Cell \u001b[0;32mIn[1], line 2\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mfsm\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m FSM\n\u001b[0;32m----> 2\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mremote\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m KeyboardRemote\n\u001b[1;32m 3\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01msafety\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m SafetyHypervisor\n\u001b[1;32m 4\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01msim\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mmujoco\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Go2Sim\n",
|
||||
"File \u001b[0;32m/home/Go2py/Go2Py/robot/remote.py:2\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mthreading\u001b[39;00m\n\u001b[0;32m----> 2\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mpynput\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m keyboard\n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mclass\u001b[39;00m \u001b[38;5;21;01mBaseRemote\u001b[39;00m:\n\u001b[1;32m 6\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m__init__\u001b[39m(\u001b[38;5;28mself\u001b[39m):\n",
|
||||
"File \u001b[0;32m/usr/local/lib/python3.10/dist-packages/pynput/__init__.py:40\u001b[0m\n\u001b[1;32m 34\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mlogging\u001b[39;00m\n\u001b[1;32m 35\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m logging\u001b[38;5;241m.\u001b[39mgetLogger(\u001b[38;5;124m'\u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m.\u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mformat(\n\u001b[1;32m 36\u001b[0m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m.\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\u001b[38;5;28mcls\u001b[39m\u001b[38;5;241m.\u001b[39m\u001b[38;5;18m__module__\u001b[39m\u001b[38;5;241m.\u001b[39msplit(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m.\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;241m2\u001b[39m)[:\u001b[38;5;241m2\u001b[39m]),\n\u001b[1;32m 37\u001b[0m \u001b[38;5;28mcls\u001b[39m\u001b[38;5;241m.\u001b[39m\u001b[38;5;18m__name__\u001b[39m))\n\u001b[0;32m---> 40\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m keyboard\n\u001b[1;32m 41\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m mouse\n",
|
||||
"File \u001b[0;32m/usr/local/lib/python3.10/dist-packages/pynput/keyboard/__init__.py:31\u001b[0m\n\u001b[1;32m 26\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mitertools\u001b[39;00m\n\u001b[1;32m 28\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mpynput\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_util\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m backend, Events\n\u001b[0;32m---> 31\u001b[0m backend \u001b[38;5;241m=\u001b[39m \u001b[43mbackend\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;18;43m__name__\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m 32\u001b[0m KeyCode \u001b[38;5;241m=\u001b[39m backend\u001b[38;5;241m.\u001b[39mKeyCode\n\u001b[1;32m 33\u001b[0m Key \u001b[38;5;241m=\u001b[39m backend\u001b[38;5;241m.\u001b[39mKey\n",
|
||||
"File \u001b[0;32m/usr/local/lib/python3.10/dist-packages/pynput/_util/__init__.py:77\u001b[0m, in \u001b[0;36mbackend\u001b[0;34m(package)\u001b[0m\n\u001b[1;32m 74\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m module \u001b[38;5;129;01min\u001b[39;00m RESOLUTIONS:\n\u001b[1;32m 75\u001b[0m resolutions\u001b[38;5;241m.\u001b[39mappend(RESOLUTIONS[module])\n\u001b[0;32m---> 77\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mImportError\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mthis platform is not supported: \u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mformat(\n\u001b[1;32m 78\u001b[0m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m; \u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\u001b[38;5;28mstr\u001b[39m(e) \u001b[38;5;28;01mfor\u001b[39;00m e \u001b[38;5;129;01min\u001b[39;00m errors)) \u001b[38;5;241m+\u001b[39m (\u001b[38;5;124m'\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m 79\u001b[0m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mTry one of the following resolutions:\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m 80\u001b[0m \u001b[38;5;241m+\u001b[39m \u001b[38;5;124m'\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\n\u001b[1;32m 81\u001b[0m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m * \u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mformat(s)\n\u001b[1;32m 82\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m s \u001b[38;5;129;01min\u001b[39;00m resolutions))\n\u001b[1;32m 83\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m resolutions \u001b[38;5;28;01melse\u001b[39;00m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
|
||||
"\u001b[0;31mImportError\u001b[0m: this platform is not supported: ('failed to acquire X connection: Can\\'t connect to display \":1\": b\\'Authorization required, but no authorization protocol specified\\\\n\\'', DisplayConnectionError(':1', b'Authorization required, but no authorization protocol specified\\n'))\n\nTry one of the following resolutions:\n\n * Please make sure that you have an X server running, and that the DISPLAY environment variable is set correctly"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"from Go2Py.robot.fsm import FSM\n",
|
||||
"from Go2Py.robot.remote import KeyboardRemote\n",
|
||||
|
|
@ -39,7 +55,19 @@
|
|||
"cell_type": "code",
|
||||
"execution_count": 2,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"outputs": [
|
||||
{
|
||||
"ename": "NameError",
|
||||
"evalue": "name 'Go2Sim' is not defined",
|
||||
"output_type": "error",
|
||||
"traceback": [
|
||||
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
|
||||
"\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)",
|
||||
"Cell \u001b[0;32mIn[2], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m robot \u001b[38;5;241m=\u001b[39m \u001b[43mGo2Sim\u001b[49m()\n",
|
||||
"\u001b[0;31mNameError\u001b[0m: name 'Go2Sim' is not defined"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"robot = Go2Sim()"
|
||||
]
|
||||
|
|
@ -69,6 +97,7 @@
|
|||
" self.command_profile = CommandInterface()\n",
|
||||
" self.agent = CaTAgent(self.command_profile, self.robot)\n",
|
||||
" self.init()\n",
|
||||
" self.hist_data = {}\n",
|
||||
"\n",
|
||||
" def init(self):\n",
|
||||
" self.obs = self.agent.reset()\n",
|
||||
|
|
@ -79,7 +108,12 @@
|
|||
"\n",
|
||||
" def update(self, robot, remote):\n",
|
||||
" action = self.policy(self.obs, self.policy_info)\n",
|
||||
" self.obs, self.ret, self.done, self.info = self.agent.step(action)"
|
||||
" self.obs, self.ret, self.done, self.info = self.agent.step(action)\n",
|
||||
" for key, value in self.info.items():\n",
|
||||
" if key in self.hist_data:\n",
|
||||
" self.hist_data[key].append(value)\n",
|
||||
" else:\n",
|
||||
" self.hist_data[key] = [value]"
|
||||
]
|
||||
},
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue