Controler_development

.gitignore

@@ -1,11 +1,6 @@
-build/
-*.swp
-__pycache__/
-*.csv
-*.mp4
-*.png
-*.pdf
-vgcore.*
-trained_models/
-.vscode/
-*.egg-info
+.history
+.vscode
+__pycache__
+tmp.bullet
+output
+*.csv

addThis.py

@@ -0,0 +1,10 @@
+# in def move after time.sleep()
+
+        for id in range(len(goal_pos)):
+             dxl_model_number, dxl_comm_result, dxl_error * packetHandler.ping(portHandler, motor_ID[id])
+
+             if dxl_error != 0:
+                self.ping_count[id] + 1
+
+                if sef.ping_count[id] = 4 
+                    dxl_comm_result, dxl_error * packetHandler.reboot(portHandler, motor_ID[id])

configs/292_motors.json

@@ -0,0 +1,11 @@
+{
+    "min_limits": {
+        "2": 902, "3": 865, "4": 965, "5": 881, "6": 699, "7": 751, "8": 964, "9": 876, "10": 710, "12": 696
+    },
+    "max_limits": {
+        "2": 3192, "3": 3342, "4": 3239, "5": 3170, "6": 3415, "7": 3407, "8": 3282, "9": 3176, "10": 3402, "12": 3402
+    },
+    "orientations": {
+        "2": 1, "3": 1, "4": -1, "5": -1, "6": 1, "7": 1, "8": 1, "9": 1, "10": 1, "12": 1
+    }
+}

configs/controller_params.json

@@ -0,0 +1,5 @@
+{
+    "baudrate": 3000000,
+    "port": "/dev/ttyUSB0",
+    "orientations": [1, 1, -1, 1]
+}

constants.py

@@ -0,0 +1,14 @@
+import multiprocessing as mp
+import numpy as np
+
+GRAMMAR_FILEPATH = "./data/designs/grammar_apr30_asym.dot"
+RULE_SEQUENCE = "0, 7, 1, 12, 1, 13, 10, 6, 2, 4, 16, 3, 16, 4, 19, 17, 9, 2, 4, 5, 5, 4, 5, 16, 16, 4, 17, 18, 9, 14, 5, 8, 9, 8, 9, 9, 8, 8".split(" ")
+ACTION_FILTER_COEFS = [0.10422766377112629, 0.3239870556899027, 0.3658903830367387, 0.3239870556899027, 0.10422766377112629]
+CHANNELS = 16
+DT = 16 / 240
+HORIZON = 40
+NUM_THREADS = mp.cpu_count() - 1
+SEED = np.random.randint(10000000)
+SAVE_ACTION_SEQUENCE = False
+OPTIMIZE = False
+INPUT_ACTION_SEQUENCE = None # "output/nice.npy"