Exemple #1
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    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)
Exemple #2
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 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)
Exemple #3
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def setup():
    buildScene()
    setupEventHandlers()
    scene = getScene()
    return scene.item('world')
Exemple #4
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        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

Exemple #5
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 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
Exemple #6
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 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
Exemple #7
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 def _checkTimeout(self):
     elapsedTime = getScene().timer().timestep
     self._remainingTime -= elapsedTime
     return self._remainingTime < 0