def __init__(self, position=(0, 0), name="simple", d=1, bHand=0, collisionGroup=None):
"""Init using IR class."""
global bDebug
self.name = name
self.ini_pos = position
self.salientMode = "all"
self.circle = createCircle(position, r=d * 0.6, bDynamic=True, density=1, name="wheel")
self.box = createBox((position[0], position[1] + d * 1.9), d * 0.2, d * 2, bDynamic=True, density=1)
self.joint = myCreateRevoluteJoint(self.circle, self.box, position, iswheel=True)
self.bHand = bHand
self.IR = IR(1)
self.box.userData["name"] = name
self.box.userData["nIR"] = 1
if(name == "cartLeft"):
self.IR.IRAngles = [0]
else:
self.IR.IRAngles = [np.pi]
self.box.userData["IRAngles"] = self.IR.IRAngles
self.box.userData["IRValues"] = self.IR.IRValues
if(bHand > 0):
body = self.box
h = d * 0.15
w = d * 0.4
pos = (2 * w - d * 0.2, 0)
if(bHand == 2):
pos = (-2 * w + d * 0.2, 0)
fixtureDef = createBoxFixture(pos, width=w, height=h, collisionGroup = collisionGroup)
body.CreateFixture(fixtureDef)
self.motor_speed = 0
self.angle = 0
def iniThreeObjects(self, pos_obj, obj_type):
self.objs.append(createCircle(pos_obj, r=0.45))
self.objs.append(createTri(pos_obj, r=0.45))
self.objs.append(createBox(pos_obj, wdiv=1, hdiv=1, w=0.35, h=0.35))
self.target_objs = []
self.target_objs.append(createCircle(pos_obj, r=0.45))
self.target_objs.append(createTri(pos_obj, r=0.45))
self.target_objs.append(
createBox(pos_obj, wdiv=1, hdiv=1, w=0.35, h=0.35))
for t in self.target_objs:
t.active = False
t.position = [2, 4]
x = -2
for o in self.objs:
o.position, x = (x, 4), x + 1
if (obj_type == "circle"):
self.obj, self.target_obj = self.objs[0], self.target_objs[0]
elif (obj_type == "box"):
self.obj, self.target_obj = self.objs[2], self.target_objs[2]
def addCircle(who,
pos=(0, 0),
vel=(0, 0),
bDynamic=False,
bCollideNoOne=False):
r = 1.06 # PREVIOUSLY WAS 0.75
obj = createCircle(position=pos,
bDynamic=bDynamic,
bCollideNoOne=bCollideNoOne,
density=0,
r=r)
obj.userData["energy"] = 1.0
obj.userData["visible"] = 1.0
obj.linearVelocity = vel
def iniConstrainedObject(self, pos_obj):
obj = createCircle(pos_obj, r=0.3, density=0.01, name="ball")
self.objs.append(obj)
obj.position = [0, 1.5]
self.obj = self.objs[0]
obj.userData["name"] = "toy"
bar = createBox(obj.position,
w=1,
h=0.001,
bDynamic=False,
bCollideNoOne=True)
bar.userData["name"] = "bar"
self.joint = myCreateLinearJoint(bar,
obj,
force=0,
lowerTranslation=-0.82,
upperTranslation=0.82)
def addReward(who,
pos=(0, 0),
vel=(0, 0),
reward_type=0,
bDynamic=True,
bCollideNoOne=False):
if (reward_type == 0):
name, r = "reward", 0.27
else:
name, r = "reward_small", 0.2
obj = createCircle(position=pos,
bDynamic=bDynamic,
bCollideNoOne=bCollideNoOne,
density=10,
name=name,
r=r)
obj.userData["energy"] = 1.0
obj.userData["visible"] = 1.0
obj.linearVelocity = vel
who.objs.append(obj)
def __init__(self, position=(0, 0), angle=np.pi / 2, r=0.48, bHorizontal=False, frontIR=6, nother=0, nrewsensors=0):
"""Init of userData map with relevant values."""
self.ini_pos = position
self.body = createCircle(position, r=r, bDynamic=True, restitution=0, name="epuck")
self.body.angle = angle
self.r = r
# self.body = createBox(position, w=0.2,h=0.2,bDynamic=True)
self.motors = [0, 0]
self.bHorizontal = bHorizontal
self.bForceMotors = True
self.frontIR = frontIR
self.IR = IR(frontIR)
self.body.userData["nIR"] = frontIR
self.body.userData["IRAngles"] = self.IR.IRAngles
self.body.userData["IRValues"] = self.IR.IRValues
self.GradSensors = []
self.body.userData["nOtherSensors"] = nother
self.nother = nother
if(nother > 0):
otherGrad = GradSensor(nother, name="other")
self.GradSensors.append(otherGrad)
self.body.userData["OtherAngles"] = otherGrad.GradAngles
self.body.userData["OtherValues"] = otherGrad.GradValues
self.nrewardsensors = nrewsensors
self.body.userData["nRewardSensors"] = nrewsensors
if(nrewsensors > 0):
rewGrad = GradSensor(nrewsensors, name="reward")
self.GradSensors.append(rewGrad)
self.body.userData["RewardAngles"] = rewGrad.GradAngles
self.body.userData["RewardValues"] = rewGrad.GradValues
self.userData = self.body.userData
def __init__(self,
position=(0, 0),
angle=np.pi / 2,
r=0.48,
bHorizontal=False,
frontIR=6,
nother=0,
nrewsensors=0,
RGB=[255, 0, 0],
bodyType='circle',
categoryBits=0x0001,
name='epuck',
maskBits=0x0009):
"""Init of userData map with relevant values."""
self.ini_pos = position
if bodyType == 'circle':
self.body = createCircle(position,
r=r,
bDynamic=True,
restitution=0,
name=name,
categoryBits=categoryBits,
maskBits=maskBits)
elif bodyType == 'square':
self.body = createBox(position,
w=r,
h=r,
wdiv=1,
hdiv=1,
bDynamic=True,
restitution=0,
name=name,
categoryBits=categoryBits,
maskBits=maskBits)
self.body.angle = angle
self.r = r
self.motors = [0, 0]
self.bHorizontal = bHorizontal
self.bForceMotors = True
self.frontIR = frontIR
self.IR = IR(frontIR)
self.RGB = RGB
self.body.userData["nIR"] = frontIR
self.body.userData["IRAngles"] = self.IR.IRAngles
self.body.userData["IRValues"] = self.IR.IRValues
self.body.userData["RGB"] = self.RGB
self.body.userData["radius"] = self.r
self.GradSensors = []
self.body.userData["nOtherSensors"] = nother
self.nother = nother
if (nother > 0):
otherGrad = GradSensor(nother, name="other")
self.GradSensors.append(otherGrad)
self.body.userData["OtherAngles"] = otherGrad.GradAngles
self.body.userData["OtherValues"] = otherGrad.GradValues
self.nrewardsensors = nrewsensors
self.body.userData["nRewardSensors"] = nrewsensors
if (nrewsensors > 0):
rewGrad = GradSensor(nrewsensors, name="reward")
self.GradSensors.append(rewGrad)
self.body.userData["RewardAngles"] = rewGrad.GradAngles
self.body.userData["RewardValues"] = rewGrad.GradValues
self.userData = self.body.userData