37 lines
863 B
Python
37 lines
863 B
Python
import sys
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#some python interpreters need '.' added
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sys.path.append(".")
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import pybullet as p
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from minitaur import Minitaur
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from minitaur_evaluate import *
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import time
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import math
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import numpy as np
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def main(unused_args):
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timeStep = 0.01
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c = p.connect(p.SHARED_MEMORY)
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if (c < 0):
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c = p.connect(p.GUI)
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params = [
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0.1903581461951056, 0.0006732219568880068, 0.05018085615283363, 3.219916795483583,
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6.2406418167980595, 4.189869754607539
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]
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evaluate_func = 'evaluate_desired_motorAngle_2Amplitude4Phase'
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energy_weight = 0.01
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finalReturn = evaluate_params(evaluateFunc=evaluate_func,
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params=params,
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objectiveParams=[energy_weight],
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timeStep=timeStep,
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sleepTime=timeStep)
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print(finalReturn)
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main(0)
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