def __init__(self,
world,
name="Robot",
cfg = None,
data = None):
Component.__init__(self, name)
self.world = world
self.modules = []
self.cfg = cfg
self.brain = None
self.interactive = True
self._preState = None
self._action = None
self._actionDone = True
self._steps = 0
self._initialPos = 0
self._totalWalked = 0
self._timer = getScene().timer()
self._beforeExecution = self._timer.time
eventManager().connect(STEP_FRAME, self._onStepFrame)
def key(evt):
global block
robot = getScene().item('robot1')
light0 = getScene().worldObject('light0')
if evt.key == "1":
if block is not None and hasattr(block, 'module'):
block.module.link.motor[block.type].angle = -45
# module = robot.modules[0]
# module.link.motor['active'].angle = -90
elif evt.key == "2":
if block is not None and hasattr(block, 'module'):
block.module.link.motor[block.type].angle = 0
# module = robot.modules[0]
# module.link.motor['active'].angle = 0
elif evt.key == "3":
if block is not None and hasattr(block, 'module'):
block.module.link.motor[block.type].angle = 45
# module = robot.modules[0]
# module.link.motor['active'].angle = 90
#elif evt.key == "4":
# module = robot.modules[0]
# module.link.motor['passive'].angle = -90
#elif evt.key == "5":
# module = robot.modules[0]
# module.link.motor['passive'].angle = 0
#elif evt.key == "6":
# module = robot.modules[0]
# module.link.motor['passive'].angle = 90
#elif evt.key == "7":
# module = robot.modules[1]
# module.link.motor['active'].angle = -90
#elif evt.key == "8":
# module = robot.modules[1]
# module.link.motor['active'].angle = 0
#elif evt.key == "9":
# module = robot.modules[1]
# module.link.motor['active'].angle = 90
#elif evt.key == "0":
# module = robot.modules[1]
# module.link.motor['passive'].angle = -90
#elif evt.key == "-":
# module = robot.modules[1]
# module.link.motor['passive'].angle = 0
#elif evt.key == "=":
# module = robot.modules[1]
# module.link.motor['passive'].angle = 90
if evt.key == 'i':
#print 'action-value function: ', robot.brain._Q
#print 'actions: ', robot.brain._Q.getActions(robot.state)
print 'action: ', robot.brain.getAction(robot.state)
print 'state: ', robot.state
print 'state hash: ', robot.brain._Q.getStateHash(robot.state)
print 'goal: ', robot.brain.goal
try:
obstacleSensors = [module.getObstacleSensorValue() for module in robot.modules]
print 'obstacle sensors: ', obstacleSensors
except:
pass
elif evt.key == 'f':
module = robot.modules[1]
fixate(module.active)
elif evt.key == 'd':
mod0 = robot.modules[1]
mod1 = robot.modules[0]
mod0.dock(BOTTOM, mod1)
mod0.dock(FRONT, mod1)
mod0.dock(REAR, mod1)
elif evt.key == 'u':
module = block.module
module.undock(BOTTOM)
module.undock(FRONT)
module.undock(REAR)
elif evt.key == 'l':
robot.interactive = not robot.interactive
logger.info('interactive mode is %s' % str(robot.interactive).upper())
elif evt.key == 'D':
robot.brain.dump('brain.dump')
elif evt.key == 'L':
robot.brain.restore('brain.dump')
elif evt.key == 'r':
world.reset()
elif evt.key == 'v':
for module in robot.modules:
module.active.child('Mesh').visible = not module.active.child('Mesh').visible
module.active.visible = not module.active.visible
module.passive.child('Mesh').visible = not module.passive.child('Mesh').visible
module.passive.visible = not module.passive.visible
module.link.child('Box').visible = not module.link.child('Box').visible
module.link.visible = not module.link.visible
elif evt.key == 'x':
robot.brain.setPolicyMode(EXPLORE)
logger.info("Using EXPLORE policy")
elif evt.key == 't':
robot.brain.setPolicyMode(EXPLOIT)
logger.info("Using EXPLOIT policy")
elif evt.key == 'g':
robot.brain.setPolicyMode(EPSILON_GREEDY)
logger.info("Using EPSILON_GREEDY policy")
elif evt.keycode == KEY_RIGHT:
if block is not None and hasattr(block, 'module'):
block.module.link.motor[block.type].angle += 90
logger.info('new angle: %s' % block.module.link.motor[block.type].angle)
# light0.pos += vec3(-0.06,0,0)
elif evt.keycode == KEY_LEFT:
if block is not None and hasattr(block, 'module'):
block.module.link.motor[block.type].angle += -90
logger.info('new angle: %s' % block.module.link.motor[block.type].angle)
# light0.pos += vec3(0.06,0,0)
#elif evt.keycode == KEY_UP:
# light0.pos += vec3(0,-0.06,0)
#elif evt.keycode == KEY_DOWN:
# light0.pos += vec3(0,0.06,0)
elif evt.key == 'b':
logger.info(light0.pos)
elif evt.key == 'n':
idx = robot._index
new_idx = (idx + 1) % 4
robot.adapt(new_idx)
def setup():
buildScene()
setupEventHandlers()
scene = getScene()
return scene.item('world')
renderer = getApp().renderer
hits = renderer.pick(evt.x, evt.y, 2, 2)
if hits:
global block
block = hits[0][2]
eventmanager.connect(KEY_PRESS, key)
eventmanager.connect(LEFT_DOWN, mouse)
def fixate(obj):
global world
sj = ODESliderJoint(body1=obj)
sj.lostop = 0
sj.histop = 0
world.add(sj)
#==============================================================================
global world
global block
world = setup()
block = None
#listWorld()
#print "bodies: ", [body.obj.name for body in world.bodies]
robot = getScene().item('robot1')
# pause movemente at start
robot.interactive = True
def _getObstacles(self):
obstacleNames = [objName for objName in self.data['object'] \
if self.data['object'][objName].get('obstacle', False) and objName in self.data['environment']['objects']]
obstacles = [getScene().worldObject(objName) for objName in obstacleNames]
return obstacles
def _getLightSources(self):
lightNames = [objName for objName in self.data['object'] \
if self.data['object'][objName]['type'] == 'light' and \
objName in self.data['environment']['objects']]
lights = [getScene().worldObject(objName) for objName in lightNames]
return lights
def _checkTimeout(self):
elapsedTime = getScene().timer().timestep
self._remainingTime -= elapsedTime
return self._remainingTime < 0
