def __init__(self, vertices):
self.vertices = vertices
assert isinstance(vertices, list)
self.fixture = b2FixtureDef(shape=b2LoopShape(vertices=self.vertices),
density=1,
friction=0.5,
restitution=0)
def __init__(self):
super(Pinball, self).__init__()
# The ground
ground = self.world.CreateBody(
shapes=b2LoopShape(vertices=[(0, -2), (8, 6),
(8, 20), (-8, 20),
(-8, 6)]),
)
# Flippers
p1, p2 = (-2, 0), (2, 0)
fixture = b2FixtureDef(shape=b2PolygonShape(box=(1.75, 0.1)), density=1)
flipper = {'fixtures': fixture}
self.leftFlipper = self.world.CreateDynamicBody(
position=p1,
**flipper
)
self.rightFlipper = self.world.CreateDynamicBody(
position=p2,
**flipper
)
rjd = b2RevoluteJointDef(
bodyA=ground,
bodyB=self.leftFlipper,
localAnchorA=p1,
localAnchorB=(0, 0),
enableMotor=True,
enableLimit=True,
maxMotorTorque=1000,
motorSpeed=0,
lowerAngle=-30.0 * b2_pi / 180.0,
upperAngle=5.0 * b2_pi / 180.0,
)
self.leftJoint = self.world.CreateJoint(rjd)
rjd.motorSpeed = 0
rjd.localAnchorA = p2
rjd.bodyB = self.rightFlipper
rjd.lowerAngle = -5.0 * b2_pi / 180.0
rjd.upperAngle = 30.0 * b2_pi / 180.0
self.rightJoint = self.world.CreateJoint(rjd)
# Ball
self.ball = self.world.CreateDynamicBody(
fixtures=b2FixtureDef(
shape=b2CircleShape(radius=0.2),
density=1.0),
bullet=True,
position=(1, 15))
self.pressed = False
def __init__(self):
super(Membrane, self).__init__()
# Creating the Exterior Box that defines the 2D Plane
self.exterior_box = self.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
# Creating the object to manipulate
ball_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH / 40),
density=1,
friction=0.6)
self.ball = self.world.CreateDynamicBody(position=(BOX_WIDTH / 2,
BOX_HEIGHT / 2),
fixtures=ball_fixture)
# Creating 5 actuators
self.actuator_list = []
self.actuator_joint_list = []
actuator_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
50.0),
density=1,
friction=0.6,
groupIndex=-1)
for i in range(5):
actuator = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10, BOX_HEIGHT / 10),
fixtures=actuator_fixture)
# actuator = self.world.CreateKinematicBody(
# position = (BOX_WIDTH/5*i+BOX_WIDTH/10, BOX_HEIGHT/10),
# shapes = b2CircleShape(radius=BOX_WIDTH/50.0), # diameter is 1/5th of the space allocated for each actuator
# )
actuator_joint = self.world.CreatePrismaticJoint(
bodyA=self.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=BOX_WIDTH * 5.0 / 6.0,
enableLimit=True,
maxMotorForce=1000.0,
motorSpeed=0,
enableMotor=True)
self.actuator_list.append(actuator)
self.actuator_joint_list.append(actuator_joint)
self.actuator_joint_list[0].motorSpeed = 1.0
self.actuator_joint_list[3].motorSpeed = 0.5
self.actuator_joint_list[2].motorSpeed = 0.1
# Creating the linkages that will form the semi-flexible membrane
self.link_left_list = [] # four links
self.link_right_list = [] # four links
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(BOX_WIDTH / 12, BOX_WIDTH / 70.0)),
density=1,
friction=0.6,
groupIndex=-1 # neg index to prevent collision
)
for i in range(1, 5):
link_left = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i - BOX_WIDTH / 10 + BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
self.link_left_list.append(link_left)
link_right = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10 - BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
self.link_right_list.append(link_right)
joint_left = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i - 1],
bodyB=link_left,
anchor=self.actuator_list[i - 1].worldCenter,
collideConnected=False)
joint_right = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i],
bodyB=link_right,
anchor=self.actuator_list[i].worldCenter,
collideConnected=False)
joint_middle = self.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - BOX_WIDTH / 12 +
BOX_WIDTH / 70, link_right.position.y),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=BOX_WIDTH / 6 - BOX_WIDTH / 35,
enableLimit=True)
def _reset(self):
self._destroy()
# Creating the Exterior Box that defines the 2D Plane
self.exterior_box = self.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
self.exterior_box.color1 = (0, 0, 0)
self.exterior_box.color2 = (0, 0, 0)
# Creating the object to manipulate
object_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH *
OBJ_SIZE / 2),
density=0.3,
friction=0.6,
restitution=0.5)
# Randomizing object's initial position
# object_position = (
# self.np_random.uniform(BOX_WIDTH*OBJ_POS_OFFSET,BOX_WIDTH-BOX_WIDTH*OBJ_POS_OFFSET),
# BOX_HEIGHT/5
# )
# object_position = (
# self.np_random.uniform(BOX_WIDTH*OBJ_POS_OFFSET,BOX_WIDTH-BOX_WIDTH*OBJ_POS_OFFSET),
# self.np_random.uniform(BOX_WIDTH*OBJ_POS_OFFSET,BOX_HEIGHT-BOX_WIDTH*OBJ_POS_OFFSET)
# )
object_position = (self.np_random.uniform(
BOX_WIDTH * OBJ_POS_OFFSET,
BOX_WIDTH - BOX_WIDTH * OBJ_POS_OFFSET), BOX_HEIGHT / 3)
self.object = self.world.CreateDynamicBody(
position=object_position,
fixtures=object_fixture,
linearDamping=0.3 # Control this parameter for surface friction
)
self.object.at_target = False
self.object.at_target_count = 0
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
# Creating 5 actuators
actuator_fixture = b2FixtureDef(
shape=b2CircleShape(radius=BOX_WIDTH * ACTUATOR_TIP_SIZE / 2),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1)
for i in range(5):
actuator = self.world.CreateDynamicBody(
position=((BOX_SIDE_OFFSET + GAP * i) * BOX_WIDTH, 0),
fixtures=actuator_fixture)
actuator.color1 = (0, 0, 0.5)
actuator.color2 = (0, 0, 0)
actuator.joint = self.world.CreatePrismaticJoint(
bodyA=self.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=ACTUATOR_TRANSLATION_MAX,
enableLimit=True,
maxMotorForce=1000.0,
motorSpeed=0,
enableMotor=True)
self.actuator_list.append(actuator)
self.drawlist = self.actuator_list + [self.object]
if self.with_linkage:
# Creating the linkages that will form the semi-flexible membrane
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(LINK_WIDTH * BOX_WIDTH / 2,
LINK_HEIGHT * BOX_WIDTH / 2)),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1 # neg index to prevent collision
)
for i in range(4):
link_left = self.world.CreateDynamicBody(
position=(BOX_WIDTH *
(BOX_SIDE_OFFSET + GAP * i + LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_left.color1 = (0, 1, 1)
link_left.color2 = (1, 0, 1)
self.link_left_list.append(link_left)
link_right = self.world.CreateDynamicBody(
position=(BOX_WIDTH * (BOX_SIDE_OFFSET + GAP *
(i + 1) - LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_right.color1 = (0, 1, 1)
link_right.color2 = (1, 0, 1)
self.link_right_list.append(link_right)
joint_left = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i],
bodyB=link_left,
anchor=self.actuator_list[i].worldCenter,
collideConnected=False)
joint_right = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i + 1],
bodyB=link_right,
anchor=self.actuator_list[i + 1].worldCenter,
collideConnected=False)
joint_middle = self.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - BOX_WIDTH *
(LINK_WIDTH / 2 + LINK_HEIGHT / 2),
link_right.position.y),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=BOX_WIDTH * LINK_WIDTH * 2 / 3,
enableLimit=True)
# Adding linkages to the drawlist
self.drawlist = self.link_left_list + self.link_right_list + self.drawlist
return self._step(np.array([0, 0, 0, 0,
0]))[0] # action: zero motor speed
def reset_helper(env_obj):
# Creating the Exterior Box that defines the 2D Plane
env_obj.exterior_box = env_obj.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
env_obj.exterior_box.color1 = (0, 0, 0)
env_obj.exterior_box.color2 = (0, 0, 0)
# Creating 5 actuators
actuator_fixture = b2FixtureDef(
shape=b2CircleShape(radius=ACTUATOR_TIP_SIZE / 2),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1)
for i in range(5):
actuator = env_obj.world.CreateDynamicBody(position=(BOX_SIDE_OFFSET +
GAP * i, 0),
fixtures=actuator_fixture)
actuator.color1 = (0, 0, 0.5)
actuator.color2 = (0, 0, 0)
actuator.joint = env_obj.world.CreatePrismaticJoint(
bodyA=env_obj.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=ACTUATOR_TRANSLATION_MAX,
enableLimit=True,
maxMotorForce=10000.0,
motorSpeed=0,
enableMotor=True)
env_obj.actuator_list.append(actuator)
env_obj.drawlist = env_obj.actuator_list
# Creating the linkages that will form the semi-flexible membrane
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(LINK_WIDTH / 2, LINK_HEIGHT / 2)),
density=1,
friction=0.6,
restitution=0.0,
groupIndex=-1 # neg index to prevent collision
)
for i in range(4):
link_left = env_obj.world.CreateDynamicBody(
position=(BOX_SIDE_OFFSET + (GAP * i + LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_left.color1 = (0, 1, 1)
link_left.color2 = (1, 0, 1)
env_obj.link_left_list.append(link_left)
link_right = env_obj.world.CreateDynamicBody(
position=(BOX_SIDE_OFFSET + (GAP * (i + 1) - LINK_WIDTH / 2), 0),
fixtures=link_fixture)
link_right.color1 = (0, 1, 1)
link_right.color2 = (1, 0, 1)
env_obj.link_right_list.append(link_right)
joint_left = env_obj.world.CreateRevoluteJoint(
bodyA=env_obj.actuator_list[i],
bodyB=link_left,
anchor=env_obj.actuator_list[i].worldCenter,
collideConnected=False)
joint_right = env_obj.world.CreateRevoluteJoint(
bodyA=env_obj.actuator_list[i + 1],
bodyB=link_right,
anchor=env_obj.actuator_list[i + 1].worldCenter,
collideConnected=False)
joint_middle = env_obj.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - (LINK_WIDTH / 2 + LINK_HEIGHT / 2),
(link_left.position.y + link_right.position.y) / 2.0),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=UPPER_TRANSLATION_MIDDLE_JOINT,
enableLimit=True)
# Adding linkages to the drawlist
env_obj.drawlist = env_obj.link_left_list + env_obj.link_right_list + env_obj.drawlist
def _reset(self):
self._destroy()
self.game_over = False # To be used later
# Creating the Exterior Box that defines the 2D Plane
self.exterior_box = self.world.CreateStaticBody(
position=(0, 0), shapes=b2LoopShape(vertices=EXT_BOX_POLY))
self.exterior_box.color1 = (0, 0, 0)
self.exterior_box.color2 = (0, 0, 0)
# Creating the object to manipulate
object_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
20),
density=1,
friction=0.6)
self.object = self.world.CreateDynamicBody(position=(5,
BOX_HEIGHT / 2),
fixtures=object_fixture)
self.object.at_target = False
self.object.at_target_count = 0
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
# Creating 5 actuators
self.actuator_list = []
self.actuator_joint_list = []
actuator_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
50.0),
density=1,
friction=0.6,
groupIndex=-1)
for i in range(5):
actuator = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10, BOX_HEIGHT / 10),
fixtures=actuator_fixture)
actuator.color1 = (1, 0, 0)
actuator.color2 = (1, 0, 0)
#SHOULD STAY COMMENTED
# actuator = self.world.CreateKinematicBody(
# position = (BOX_WIDTH/5*i+BOX_WIDTH/10, BOX_HEIGHT/10),
# shapes = b2CircleShape(radius=BOX_WIDTH/50.0), # diameter is 1/5th of the space allocated for each actuator
# )
actuator_joint = self.world.CreatePrismaticJoint(
bodyA=self.exterior_box,
bodyB=actuator,
anchor=actuator.position,
axis=(0, 1),
lowerTranslation=0,
upperTranslation=ACTUATOR_TRANSLATION_MAX,
enableLimit=True,
maxMotorForce=1000.0,
motorSpeed=0,
enableMotor=True)
self.actuator_list.append(actuator)
self.actuator_joint_list.append(actuator_joint)
# Creating the linkages that will form the semi-flexible membrane
self.link_left_list = [] # four links
self.link_right_list = [] # four links
link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(BOX_WIDTH / 12, BOX_WIDTH / 70.0)),
density=1,
friction=0.6,
groupIndex=-1 # neg index to prevent collision
)
for i in range(1, 5):
link_left = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i - BOX_WIDTH / 10 + BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
link_left.color1 = (0, 1, 1)
link_left.color2 = (1, 0, 1)
self.link_left_list.append(link_left)
link_right = self.world.CreateDynamicBody(
position=(BOX_WIDTH / 5 * i + BOX_WIDTH / 10 - BOX_WIDTH / 12,
BOX_HEIGHT / 10),
fixtures=link_fixture)
link_right.color1 = (0, 1, 1)
link_right.color2 = (1, 0, 1)
self.link_right_list.append(link_right)
joint_left = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i - 1],
bodyB=link_left,
anchor=self.actuator_list[i - 1].worldCenter,
collideConnected=False)
joint_right = self.world.CreateRevoluteJoint(
bodyA=self.actuator_list[i],
bodyB=link_right,
anchor=self.actuator_list[i].worldCenter,
collideConnected=False)
joint_middle = self.world.CreatePrismaticJoint(
bodyA=link_left,
bodyB=link_right,
anchor=(link_right.position.x - BOX_WIDTH / 12 +
BOX_WIDTH / 70, link_right.position.y),
axis=(1, 0),
lowerTranslation=0,
upperTranslation=BOX_WIDTH / 6 - BOX_WIDTH / 35,
enableLimit=True)
self.drawlist = self.link_right_list + self.link_left_list + [
self.object
]
self.drawlist = self.drawlist + self.actuator_list
return self._step(np.array([0, 0, 0, 0,
0]))[0] # action: zero motor speed
def _reset(self):
self._destroy()
self.game_over = False # To be used later
# Creating the Exterior Box that defines the 2D Plane
exterior_box_fixture = b2FixtureDef(
shape=b2LoopShape(vertices=EXT_BOX_POLY),
categoryBits=0x0001,
maskBits=0x0004 | 0x0001 | 0x0002)
self.exterior_box = self.world.CreateStaticBody(position=(0, 0))
self.exterior_box.CreateFixture(exterior_box_fixture)
self.exterior_box.color1 = (0, 0, 1)
self.exterior_box.color2 = (0, 0, 0)
# Creating the object to manipulate
object_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH /
40),
density=1,
categoryBits=0x0002,
maskBits=0x0004 | 0x0002 | 0x0001)
self.object = self.world.CreateDynamicBody(position=(BOX_WIDTH / 2,
BOX_HEIGHT / 2),
fixtures=object_fixture,
linearDamping=0.3)
self.object.at_target = False
self.object.at_target_count = 0
self.object.color1 = (1, 1, 0)
self.object.color2 = (0, 0, 0)
# Creating the actuator mount
self.actuator_mount = self.world.CreateStaticBody(
position=(-BOX_WIDTH / 50, BOX_HEIGHT / 2),
shapes=b2PolygonShape(box=(BOX_WIDTH / 50, BOX_WIDTH / 30)))
self.actuator_mount.color1 = (1, 0, 0)
self.actuator_mount.color2 = (0, 0, 0)
# Link Position Calculation
adj = (BOX_WIDTH / 50 + TIP_POS[0]) / 4
hyp = (LINK_LENGTH / 2)
opp = np.sqrt(hyp * hyp - adj * adj)
# Creating the actuator
first_link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(LINK_LENGTH / 2, BOX_WIDTH / 70, (0, 0),
math.tan(opp / adj))),
density=1,
categoryBits=0x0003,
maskBits=0)
second_link_fixture = b2FixtureDef(
shape=b2PolygonShape(box=(LINK_LENGTH / 2, BOX_WIDTH / 70, (0, 0),
math.pi - math.tan(opp / adj))),
density=1,
categoryBits=0x0003,
maskBits=0)
tip_fixture = b2FixtureDef(shape=b2CircleShape(radius=BOX_WIDTH / 50),
density=1,
categoryBits=0x0004,
maskBits=0x0004 | 0x0002 | 0x0001)
self.first_link = self.world.CreateDynamicBody(
position=self.actuator_mount.position + (adj, opp),
fixtures=first_link_fixture)
self.first_link.color1 = (0, 0, 0)
self.first_link.color2 = (0, 0, 0)
self.first_link.joint = self.world.CreateRevoluteJoint(
bodyA=self.actuator_mount,
bodyB=self.first_link,
anchor=self.actuator_mount.position,
collideConnected=False,
maxMotorTorque=MOTOR_TORQUE,
motorSpeed=0,
enableMotor=True)
self.second_link = self.world.CreateDynamicBody(
position=self.first_link.position + (adj * 2, 0),
fixtures=second_link_fixture)
self.second_link.color1 = (0, 0, 0)
self.second_link.color2 = (0, 0, 0)
self.second_link.joint = self.world.CreateRevoluteJoint(
bodyA=self.first_link,
bodyB=self.second_link,
anchor=self.first_link.position + (adj, opp),
collideConnected=False,
maxMotorTorque=MOTOR_TORQUE,
motorSpeed=0,
enableMotor=True)
self.tip = self.world.CreateDynamicBody(
position=self.second_link.position + (adj, -opp),
fixtures=tip_fixture)
self.tip.color1 = (0, 1, 1)
self.tip.color2 = (0, 0, 0)
self.tip.joint = self.world.CreateWeldJoint(bodyA=self.tip,
bodyB=self.second_link,
anchor=self.tip.position)
# Adding bodies to be rendered to the drawlist
self.drawlist = [
self.first_link, self.second_link, self.object, self.tip
]
return self._step(np.array([0, 0]))[0] # action: zero motor speed