def __init__(self, name, rewardActDescription):
'''
Constructor
'''
self.logFP = None
self.ll = LanguageLearner(name)
self.lu = LanguageUser(rewardActDescription)
def __init__(self, name, clientID, sensorHandle, bodyHandle):
'''
Constructor
'''
self.__velocity=0.0 # m/s
self.__angularVelocity=0.0 # radian/s
self.__orientation=None # π radian
self.__steering=0.0 # Steering value [-1,1]
self.__thrust=1.0 # Accelerator value [-1,1]
self.__emotion=0
self.__position=None
self.__initLoop=True
self.__perceivedItems={}
if name=="BubbleRob#0":
self.__mind = LanguageUser()
else:
self.__mind = LanguageLearner()
self.__name=name
self.__clientID=clientID # Client ID of the Dummy object
self.__sensorHandle=sensorHandle # Proximity sensor handle of the V-Rep agent
self.__bodyHandle=bodyHandle # BubbleRob body handle
self.__driveBackStartTime=-99000
self.__firstOrientation=None
self.__cnt=0
self.__mind.setInput("name", name)
self.__carryingDirection = 0
def __init__(self, name, clientID, sensorHandle, bodyHandle):
'''
Constructor
'''
self.__velocity=0.0 # m/s
self.__angularVelocity=0.0 # radian/s
self.__orientation=None # π radian
self.__steering=0.0 # Steering value [-1,1]
self.__thrust=1.0 # Accelerator value [-1,1]
self.__emotion=0
self.__position=None
self.__initLoop=True
self.__perceivedItems={}
if name=="BubbleRob#0":
self.__mind = LanguageUser()
else:
self.__mind = LanguageLearner()
self.__name=name
self.__clientID=clientID # Client ID of the Dummy object
self.__sensorHandle=sensorHandle # Proximity sensor handle of the V-Rep agent
self.__bodyHandle=bodyHandle # BubbleRob body handle
self.__driveBackStartTime=-99000
self.__firstOrientation=None
self.__cnt=0
self.__mind.setInput("name", name)
self.__carryingDirection = 0
class Simulator(object):
'''
classdocs
'''
__cnt = 0
def __init__(self, name, rewardActDescription):
'''
Constructor
'''
self.logFP = None
self.ll = LanguageLearner(name)
self.lu = LanguageUser(rewardActDescription)
def loop(self, maxLoop):
llUtt = ""
llAct = ""
while self.__cnt < maxLoop:
self.__cnt = self.__cnt + 1
self.lu.setInput("llUtterance", llUtt)
self.lu.setInput("llAction", llAct)
self.lu.loop()
luUtt = self.lu.getOutput("utterance")
luAct = self.lu.getOutput("action")
luRew = self.lu.getOutput("reward")
self.ll.setInput("luUtterance", luUtt)
self.ll.setInput("luAction", luAct)
self.ll.setReward(luRew)
self.ll.loop()
luMode = self.ll.getOutput("mode")
llUtt = self.ll.getOutput("utterance")
llAct = self.ll.getOutput("action")
llRew = self.ll.getOutput("internalReward")
self.printActivities(luUtt, luAct, luRew, llUtt, llAct, llRew)
self.logFP.close()
def printActivities(self, luUtt, luAct, luRew, llUtt, llAct, llRew):
print >> self.logFP, "[LU Rew]: ", luRew
print >> self.logFP, "[LU Utt]: ", luUtt
print >> self.logFP, "[LU Act]: ", luAct
print >> self.logFP, "[LL Rew]: ", llRew
print >> self.logFP, "[LL Utt]: ", llUtt
print >> self.logFP, "[LL Act]: ", llAct
def setLogFile(self, path):
try:
self.logFP = open(path, 'w')
except:
print >> sys.stderr, "Fatal: error opening the log file."
exit()
def setRewardLog(self, path):
rewardLog = None
try:
rewardLog = open(path, 'w')
except:
print >> sys.stderr, "Fatal: error opening the reward log file."
exit()
self.ll.setRewardLog(rewardLog)
def setLearnerLog(self, path):
learnerLog = None
try:
learnerLog = open(path, 'w')
except:
print >> sys.stderr, "Fatal: error opening the learner log file."
exit()
self.ll.setLearnerLog(learnerLog)
class VRepAgent(VRepObject):
'''
classdocs
'''
__DistanceSalienceAttenuationCoefficient=-1.0
def __init__(self, name, clientID, sensorHandle, bodyHandle):
'''
Constructor
'''
self.__velocity=0.0 # m/s
self.__angularVelocity=0.0 # radian/s
self.__orientation=None # π radian
self.__steering=0.0 # Steering value [-1,1]
self.__thrust=1.0 # Accelerator value [-1,1]
self.__emotion=0
self.__position=None
self.__initLoop=True
self.__perceivedItems={}
if name=="BubbleRob#0":
self.__mind = LanguageUser()
else:
self.__mind = LanguageLearner()
self.__name=name
self.__clientID=clientID # Client ID of the Dummy object
self.__sensorHandle=sensorHandle # Proximity sensor handle of the V-Rep agent
self.__bodyHandle=bodyHandle # BubbleRob body handle
self.__driveBackStartTime=-99000
self.__firstOrientation=None
self.__cnt=0
self.__mind.setInput("name", name)
self.__carryingDirection = 0
def getName(self):
return self.__name
def getType(self):
return "Agent"
def loop(self):
operationMode=vrep.simx_opmode_streaming
if self.__initLoop:
self.__initLoop=False
else:
operationMode=vrep.simx_opmode_buffer
returnCode, orientation = vrep.simxGetObjectOrientation(self.__clientID, self.__bodyHandle, -1, operationMode)
if returnCode==vrep.simx_return_ok:
self.__orientation=orientation[2]
else:
self.__orientation = None
# print >> sys.stderr, "Error in VRepBubbleRob.getOrientation()"
self.__mind.setInput("orientation", self.__orientation)
returnCode, position = vrep.simxGetObjectPosition(self.__clientID, self.__bodyHandle, -1, operationMode)
if returnCode==vrep.simx_return_ok:
self.__position=[0.0,0.0]
self.__position[0]=position[0] #X
self.__position[1]=position[1] #Y
else:
self.__position=None
# print >> sys.stderr, "Error in VRepBubbleRob.getPosition()"
returnCode, linearVelocity, angularVelocity = vrep.simxGetObjectVelocity(self.__clientID, self.__bodyHandle, operationMode)
if returnCode==vrep.simx_return_ok:
try:
# self.__velocity=linearVelocity[0]*math.cos(self.__orientation)+linearVelocity[1]*math.sin(self.__orientation)
self.__velocity=math.sqrt(linearVelocity[0]**2+linearVelocity[1]**2)
self.__mind.setInput("velocity", self.__velocity)
except TypeError:
pass
# if self.__name=="BubbleRob#1":
# print self.__velocity, linearVelocity[0], math.cos(self.__orientation), linearVelocity[1], math.sin(self.__orientation)
else:
self.__velocity=None
# print >> sys.stderr, "Error in VRepBubbleRob.getPosition()"
returnCode, sensorTrigger, dp, doh, dsnv = vrep.simxReadProximitySensor(self.__clientID, self.__sensorHandle, operationMode)
if returnCode==vrep.simx_return_ok:
# We succeeded at reading the proximity sensor
self.__mind.setInput("lastProximitySensorTime", vrep.simxGetLastCmdTime(self.__clientID))
self.__mind.setInput("sensorTrigger", sensorTrigger)
self.__mind.setInput("mostSalientItem", self.__mind.selectMostSalient("I"))
self.__mind.setInput("mostSalientAgent", self.__mind.selectMostSalient("A"))
# print self.__name, self.__mind.getAttendedItem(self.__mind.getOutput("attendedItemName"))
self.__mind.setInput("attendedItem", self.__mind.getAttendedItem(self.__mind.getOutput("attendedItemName")))
self.__mind.perceive()
self.__mind.setReward()
self.__mind.selectAction()
self.__mind.action()
if self.__mind.getOutput("steering")!=None:
self.setSteering(self.__mind.getOutput("steering"))
if self.__mind.getOutput("thrust")!=None:
self.setThrust(self.__mind.getOutput("thrust"))
if self.__mind.getOutput("utterance") != None:
self.setUtterance(self.__mind.getOutput("utterance"))
if self.__mind.getOutput("reward")!=None:
if self.__mind.getOutput("reward")>0.5:
self.setEmotionalExpression(1)
elif self.__mind.getOutput("reward")<-0.5:
self.setEmotionalExpression(-1)
else:
self.setEmotionalExpression(0)
getSignalReturnCode, dMessage = vrep.simxGetStringSignal(self.__clientID, "Debug", vrep.simx_opmode_streaming)
if dMessage!="":
print("Debug:"+dMessage)
self.__cnt=self.__cnt+1
def setSteering(self, steering):
# Steering value [-1,1]
self.__steering = steering
#if self.getName()=="BubbleRob#1":
# print self.getName(), steering
vrep.simxSetFloatSignal(self.__clientID, self.__name+":Steering", self.__steering, vrep.simx_opmode_oneshot)
# print self.__clientID, self.__name+":Steering", self.__steering
def setThrust(self, thrust):
# Average wheel speed
self.__thrust = thrust
vrep.simxSetFloatSignal(self.__clientID, self.__name+":Acceleration", self.__thrust, vrep.simx_opmode_oneshot)
def setUtterance(self, utterance):
raw_ubytes = (ctypes.c_ubyte * len(utterance)).from_buffer_copy(utterance)
vrep.simxSetStringSignal(self.__clientID, self.__name + ":Utterance", raw_ubytes, vrep.simx_opmode_oneshot)
def getPosition(self):
return self.__position
def getOrientation(self):
return self.__orientation
def getVelocity(self):
return self.__velocity
def getAngularVelocity(self):
return self.__angularVelocity
# simxGetObjectVelocity
def setEmotionalExpression(self, emotion):
self.__emotion=emotion
vrep.simxSetIntegerSignal(self.__clientID, self.__name+":Emotion", self.__emotion, vrep.simx_opmode_oneshot)
def detectNearestItem(self):
pass
# return the id, direction, distance & features of the nearest item
def setAttentionDirection(self, orientation):
pass
def setAttentionWidth(self, width):
pass
def setPerceivedItems(self, items):
# set a list of perceived items
self.__perceivedItems=items
self.__visualSalience()
self.__mind.setInput("perceivedItems", self.__perceivedItems)
def setCarryingDirection(self, direction):
print "setCarryingDirection:", direction
self.__carryingDirection = direction
self.__mind.setInput("carryingDirection", direction)
def __visualSalience(self):
# give the score to perceived items
for item in self.__perceivedItems:
score=0.0
if item.has_key("direction") and item.has_key("distance"):
direction=item["direction"]
if -0.5*math.pi<direction and direction<0.5*math.pi:
# FOV: [-90,90] degrees
score=math.cos(direction)*math.exp(VRepAgent.__DistanceSalienceAttenuationCoefficient*item["distance"])
item["score"]=score
def pybrainLearn(self):
pass
def pybrainReset(self):
pass
class VRepAgent(VRepObject):
'''
classdocs
'''
__DistanceSalienceAttenuationCoefficient=-1.0
def __init__(self, name, clientID, sensorHandle, bodyHandle):
'''
Constructor
'''
self.__velocity=0.0 # m/s
self.__angularVelocity=0.0 # radian/s
self.__orientation=None # π radian
self.__steering=0.0 # Steering value [-1,1]
self.__thrust=1.0 # Accelerator value [-1,1]
self.__emotion=0
self.__position=None
self.__initLoop=True
self.__perceivedItems={}
if name=="BubbleRob#0":
self.__mind = LanguageUser()
else:
self.__mind = LanguageLearner()
self.__name=name
self.__clientID=clientID # Client ID of the Dummy object
self.__sensorHandle=sensorHandle # Proximity sensor handle of the V-Rep agent
self.__bodyHandle=bodyHandle # BubbleRob body handle
self.__driveBackStartTime=-99000
self.__firstOrientation=None
self.__cnt=0
self.__mind.setInput("name", name)
self.__carryingDirection = 0
def getName(self):
return self.__name
def getType(self):
return "Agent"
def loop(self):
operationMode=vrep.simx_opmode_streaming
if self.__initLoop:
self.__initLoop=False
else:
operationMode=vrep.simx_opmode_buffer
returnCode, orientation = vrep.simxGetObjectOrientation(self.__clientID, self.__bodyHandle, -1, operationMode)
if returnCode==vrep.simx_return_ok:
self.__orientation=orientation[2]
else:
self.__orientation = None
# print >> sys.stderr, "Error in VRepBubbleRob.getOrientation()"
self.__mind.setInput("orientation", self.__orientation)
returnCode, position = vrep.simxGetObjectPosition(self.__clientID, self.__bodyHandle, -1, operationMode)
if returnCode==vrep.simx_return_ok:
self.__position=[0.0,0.0]
self.__position[0]=position[0] #X
self.__position[1]=position[1] #Y
else:
self.__position=None
# print >> sys.stderr, "Error in VRepBubbleRob.getPosition()"
returnCode, linearVelocity, angularVelocity = vrep.simxGetObjectVelocity(self.__clientID, self.__bodyHandle, operationMode)
if returnCode==vrep.simx_return_ok:
try:
# self.__velocity=linearVelocity[0]*math.cos(self.__orientation)+linearVelocity[1]*math.sin(self.__orientation)
self.__velocity=math.sqrt(linearVelocity[0]**2+linearVelocity[1]**2)
self.__mind.setInput("velocity", self.__velocity)
except TypeError:
pass
# if self.__name=="BubbleRob#1":
# print self.__velocity, linearVelocity[0], math.cos(self.__orientation), linearVelocity[1], math.sin(self.__orientation)
else:
self.__velocity=None
# print >> sys.stderr, "Error in VRepBubbleRob.getPosition()"
returnCode, sensorTrigger, dp, doh, dsnv = vrep.simxReadProximitySensor(self.__clientID, self.__sensorHandle, operationMode)
if returnCode==vrep.simx_return_ok:
# We succeeded at reading the proximity sensor
self.__mind.setInput("lastProximitySensorTime", vrep.simxGetLastCmdTime(self.__clientID))
self.__mind.setInput("sensorTrigger", sensorTrigger)
self.__mind.setInput("mostSalientItem", self.__mind.selectMostSalient("I"))
self.__mind.setInput("mostSalientAgent", self.__mind.selectMostSalient("A"))
# print self.__name, self.__mind.getAttendedItem(self.__mind.getOutput("attendedItemName"))
self.__mind.setInput("attendedItem", self.__mind.getAttendedItem(self.__mind.getOutput("attendedItemName")))
self.__mind.perceive()
self.__mind.setReward()
self.__mind.selectAction()
self.__mind.action()
if self.__mind.getOutput("steering")!=None:
self.setSteering(self.__mind.getOutput("steering"))
if self.__mind.getOutput("thrust")!=None:
self.setThrust(self.__mind.getOutput("thrust"))
if self.__mind.getOutput("utterance") != None:
self.setUtterance(self.__mind.getOutput("utterance"))
if self.__mind.getOutput("reward")>0.5 or self.__mind.getOutput("sanction")==1:
self.setEmotionalExpression(1)
elif self.__mind.getOutput("reward")<-0.5:
self.setEmotionalExpression(-1)
else:
self.setEmotionalExpression(0)
getSignalReturnCode, dMessage = vrep.simxGetStringSignal(self.__clientID, "Debug", vrep.simx_opmode_streaming)
if dMessage!="":
print("Debug:"+dMessage)
self.__cnt=self.__cnt+1
def setSteering(self, steering):
# Steering value [-1,1]
self.__steering = steering
#if self.getName()=="BubbleRob#1":
# print self.getName(), steering
vrep.simxSetFloatSignal(self.__clientID, self.__name+":Steering", self.__steering, vrep.simx_opmode_oneshot)
# print self.__clientID, self.__name+":Steering", self.__steering
def setThrust(self, thrust):
# Average wheel speed
self.__thrust = thrust
vrep.simxSetFloatSignal(self.__clientID, self.__name+":Acceleration", self.__thrust, vrep.simx_opmode_oneshot)
def setUtterance(self, utterance):
raw_ubytes = (ctypes.c_ubyte * len(utterance)).from_buffer_copy(utterance)
vrep.simxSetStringSignal(self.__clientID, self.__name + ":Utterance", raw_ubytes, vrep.simx_opmode_oneshot)
def getPosition(self):
return self.__position
def getOrientation(self):
return self.__orientation
def getVelocity(self):
return self.__velocity
def getAngularVelocity(self):
return self.__angularVelocity
# simxGetObjectVelocity
def setEmotionalExpression(self, emotion):
self.__emotion=emotion
vrep.simxSetIntegerSignal(self.__clientID, self.__name+":Emotion", self.__emotion, vrep.simx_opmode_oneshot)
def detectNearestItem(self):
pass
# return the id, direction, distance & features of the nearest item
def setAttentionDirection(self, orientation):
pass
def setAttentionWidth(self, width):
pass
def setPerceivedItems(self, items):
# set a list of perceived items
self.__perceivedItems=items
self.__visualSalience()
self.__mind.setInput("perceivedItems", self.__perceivedItems)
def setCarryingDirection(self, direction):
print "setCarryingDirection:", direction
self.__carryingDirection = direction
self.__mind.setInput("carryingDirection", direction)
def __visualSalience(self):
# give the score to perceived items
for item in self.__perceivedItems:
score=0.0
if item.has_key("direction") and item.has_key("distance"):
direction=item["direction"]
if -0.5*math.pi<direction and direction<0.5*math.pi:
# FOV: [-90,90] degrees
score=math.cos(direction)*math.exp(VRepAgent.__DistanceSalienceAttenuationCoefficient*item["distance"])
item["score"]=score
