class SIMULATION: def __init__(self,GUI,solutionID): self.solutionID = solutionID self.GUI = GUI self.physicsClient = p.connect(p.GUI if self.GUI else p.DIRECT) p.setAdditionalSearchPath(pybullet_data.getDataPath()) p.setGravity(0,0,-9.8) self.world = WORLD() self.robot = ROBOT(self.solutionID) def Get_Fitness(self): self.robot.Get_Fitness() def Run(self): for t in range(c.NUMBER_STEP): if self.GUI : time.sleep(1/240) p.stepSimulation() self.robot.Sense(t) self.robot.Think(t) self.robot.Act(t) def __del__(self): p.disconnect() '''
class SIMULATION:
def __init__(self, directOrGui, solutionID):
self.directOrGui = directOrGui
if self.directOrGui == "DIRECT":
self.physicsClient = p.connect(p.DIRECT)
elif self.directOrGui == "GUI":
self.physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0, 0, -9.8)
self.world = WORLD()
self.robot = ROBOT(solutionID)
def Run(self):
for i in range(350):
p.stepSimulation()
self.robot.Sense(i)
self.robot.Think()
self.robot.Act(i)
if self.directOrGui == "GUI":
t.sleep(1 / 60)
def Get_Fitness(self, solutionID):
self.robot.Get_Fitness(solutionID)
def __del__(self):
p.disconnect()