def _initialize(self, **kwargs):
"""
:param kwargs:
:return:
"""
self.mass = MASS
self.x = SENSOR_BASE_THICKNESS
self.y = self.z = SENSOR_BASE_WIDTH
super(LightSensor, self)._initialize(**kwargs)
# Add the SDF camera sensor
camera = SdfSensor(
name="{}_light_sensor".format(self.id),
sensor_type="camera",
update_rate=self.conf.sensor_update_rate)
# TODO: Set field of view
cam_details = "<camera>" \
"<image>" \
"<width>1</width><height>1</height>" \
"</image>" \
"<clip><near>{}</near><far>{}</far></clip>" \
"</camera>".format(nf(in_mm(1)), nf(in_mm(50000)))
camera.add_element(cam_details)
camera.set_position(Vector3(0.5 * self.x, 0, 0))
self.component.add_sensor(camera, "light")
if self.conf.visualize_sensors:
camera.add_element("<visualize>1</visualize>")
self.apply_color()
def apply_surface_parameters(model, intended_step_size=0.005):
"""
Applies surface parameters to all collisions in the given model.
:param model:
:type model: Model
:param intended_step_size:
:return:
"""
surface_kd = SURFACE_ERP / (SURFACE_CFM * intended_step_size)
surface_kp = 1.0 / SURFACE_CFM - (SURFACE_ERP / SURFACE_CFM)
# Add friction surfaces to all body parts
surf = Element(tag_name="surface")
friction = Friction(friction=SURFACE_FRICTION1,
friction2=SURFACE_FRICTION2,
slip1=SURFACE_SLIP1,
slip2=SURFACE_SLIP2)
contact = "<contact>" \
"<ode>" \
"<kd>{}</kd>" \
"<kp>{}</kp>" \
"</ode>" \
"</contact>".format(
nf(surface_kd), nf(surface_kp)
)
surf.add_element(contact)
surf.add_element(friction)
collisions = model.get_elements_of_type(Collision, recursive=True)
for collision in collisions:
collision.add_element(surf)
def apply_surface_parameters(model, intended_step_size=0.005):
"""
Applies surface parameters to all collisions in the given model.
:param model:
:type model: Model
:param intended_step_size:
:return:
"""
surface_kd = SURFACE_ERP / (SURFACE_CFM * intended_step_size)
surface_kp = 1.0 / SURFACE_CFM - (SURFACE_ERP / SURFACE_CFM)
# Add friction surfaces to all body parts
surf = Element(tag_name="surface")
friction = Friction(
friction=SURFACE_FRICTION1,
friction2=SURFACE_FRICTION2,
slip1=SURFACE_SLIP1,
slip2=SURFACE_SLIP2
)
contact = "<contact>" \
"<ode>" \
"<kd>{}</kd>" \
"<kp>{}</kp>" \
"</ode>" \
"</contact>".format(
nf(surface_kd), nf(surface_kp)
)
surf.add_element(contact)
surf.add_element(friction)
collisions = model.get_elements_of_type(Collision, recursive=True)
for collision in collisions:
collision.add_element(surf)
def render_attributes(self):
"""
:return:
"""
attrs = super(VelocityMotor, self).render_attributes()
attrs.update({
'min_velocity': nf(self.min_velocity),
'max_velocity': nf(self.max_velocity)
})
return attrs
def __init__(self, diameter=3.0, height=3.0, name="birth_clinic"):
"""
:param diameter: Intended diameter of the birth clinic
:param name:
:return:
"""
super(BirthClinic, self).__init__(name=name, static=True)
self.diameter = diameter
scale = diameter / MESH_DIAMETER
# Cannot go higher than mesh height, or lower than the bottom
# of the slice.
scaled_height = scale * MESH_HEIGHT
self.height = max(arg1=min(height, scaled_height),
arg2=(SLICE_FRACTION * scaled_height))
mesh = Mesh("model://tol_arena/meshes/BirthClinic.dae", scale=scale)
col = Collision("bc_col", mesh)
surf = Element(tag_name="surface")
friction = Friction(
friction=0.01,
friction2=0.01,
slip1=1.0,
slip2=1.0
)
contact = "<contact>" \
"<ode>" \
"<kd>%s</kd>" \
"<kp>%s</kp>" \
"</ode>" \
"</contact>" % (
nf(constants.SURFACE_KD), nf(constants.SURFACE_KP)
)
surf.add_element(friction)
surf.add_element(contact)
col.add_element(surf)
vis = Visual("bc_vis", mesh.copy())
self.link = Link("bc_link", elements=[col, vis])
# By default the model has 0.5 * scale * MESH_HEIGHT below
# and above the surface. Translate such that we have exactly
# the desired height instead.
self.link.translate(Vector3(0, 0, self.height - (0.5 * scaled_height)))
self.add_element(self.link)
def __init__(self, diameter=3.0, height=3.0, name="birth_clinic"):
"""
:param diameter: Intended diameter of the birth clinic
:param name:
:return:
"""
super(BirthClinic, self).__init__(name=name, static=True)
self.diameter = diameter
scale = diameter / MESH_DIAMETER
# Cannot go higher than mesh height, or lower than the bottom
# of the slice.
scaled_height = scale * MESH_HEIGHT
self.height = max(arg1=min(height, scaled_height),
arg2=(SLICE_FRACTION * scaled_height))
mesh = Mesh("model://tol_arena/meshes/BirthClinic.dae", scale=scale)
col = Collision("bc_col", mesh)
surf = Element(tag_name="surface")
friction = Friction(
friction=0.01,
friction2=0.01,
slip1=1.0,
slip2=1.0
)
contact = "<contact>" \
"<ode>" \
"<kd>%s</kd>" \
"<kp>%s</kp>" \
"</ode>" \
"</contact>" % (
nf(constants.SURFACE_KD), nf(constants.SURFACE_KP)
)
surf.add_element(friction)
surf.add_element(contact)
col.add_element(surf)
vis = Visual("bc_vis", mesh.copy())
self.link = Link("bc_link", elements=[col, vis])
# By default the model has 0.5 * scale * MESH_HEIGHT below
# and above the surface. Translate such that we have exactly
# the desired height instead.
self.link.translate(Vector3(0, 0, self.height - (0.5 * scaled_height)))
self.add_element(self.link)
def render_elements(self):
"""
:return:
"""
elms = super(BasicBattery, self).render_elements()
return elms + [Element(tag_name="rv:level", body=nf(self.level))]
def sdf_robot(self,
robot,
controller_plugin=None,
update_rate=5,
name="sdf_robot",
analyzer_mode=False,
battery=None,
brain_conf=None):
"""
:param robot: Protobuf robot
:type robot: Robot
:param controller_plugin: Name of the shared library of the model plugin
:type controller_plugin: str|none
:param update_rate: Update rate as used by the default controller
:type update_rate: float
:param name: Name of the SDF model
:type name: str
:param analyzer_mode:
:type analyzer_mode: bool
:param battery: A Battery element to be added to the plugin if
applicable.
:type battery: Element
:param brain_conf: Brain configuration data
:type brain_conf: dict
:return: The sdf-builder Model
:rtype: Model
"""
model = Model(name)
# Create the model plugin element
plugin = Element(tag_name='plugin',
attributes={
'name': 'robot_controller',
'filename': controller_plugin
})
# Add body config element
config = Element(
tag_name='rv:robot_config',
attributes={'xmlns:rv': 'https://github.com/ci-group/revolve'})
config.add_element(
Element(tag_name='rv:update_rate', body=nf(update_rate)))
plugin.add_element(config)
# Add brain config element
brain_config = Element(tag_name='rv:brain', attributes=brain_conf)
config.add_element(brain_config)
self.brain_builder.build(robot, model, brain_config, analyzer_mode)
self.body_builder.build(robot, model, config, analyzer_mode)
if battery:
config.add_element(battery)
if controller_plugin:
# Only add the plugin element when required
model.add_element(plugin)
return model
def render_elements(self):
sub = []
for attr in ['p', 'i', 'd', 'i_max', 'i_min', 'cmd_max', 'cmd_min']:
v = getattr(self, attr, None)
if v is not None:
sub.append(Element(tag_name='rv:' + attr, body=nf(v)))
return super(PID, self).render_elements() + sub
def render_elements(self):
"""
Adds attributes as elements
"""
elms = [Element(
tag_name='rv:'+param,
body=nf(self.params[param])) for param in self.params]
return super(Neuron, self).render_elements() + elms
def render_elements(self):
"""
Adds attributes as elements
"""
elms = [
Element(tag_name='rv:' + param, body=nf(self.params[param]))
for param in self.params
]
return super(Neuron, self).render_elements() + elms
def render_attributes(self):
"""
"""
attrs = super(NeuralConnection, self).render_attributes()
attrs.update({
'src': self.conn.src,
'dst': self.conn.dst,
'weight': nf(self.conn.weight)
})
return attrs
def render_attributes(self):
"""
"""
attrs = super(NeuralConnection, self).render_attributes()
attrs.update({
'src': self.conn.src,
'dst': self.conn.dst,
'weight': nf(self.conn.weight)
})
return attrs
def sdf_robot(
self,
robot,
controller_plugin=None,
update_rate=5,
name="sdf_robot",
analyzer_mode=False,
battery=None,
brain_conf=None
):
"""
:param robot: Protobuf robot
:type robot: Robot
:param controller_plugin: Name of the shared library of the model plugin
:type controller_plugin: str|none
:param update_rate: Update rate as used by the default controller
:type update_rate: float
:param name: Name of the SDF model
:type name: str
:param analyzer_mode:
:type analyzer_mode: bool
:param battery: A Battery element to be added to the plugin if
applicable.
:type battery: Element
:param brain_conf: Brain configuration data
:type brain_conf: dict
:return: The sdf-builder Model
:rtype: Model
"""
model = Model(name)
# Create the model plugin element
plugin = Element(
tag_name='plugin',
attributes={
'name': 'robot_controller',
'filename': controller_plugin
})
# Add body config element
config = Element(
tag_name='rv:robot_config',
attributes={
'xmlns:rv': 'https://github.com/ci-group/revolve'
})
config.add_element(Element(
tag_name='rv:update_rate',
body=nf(update_rate)))
plugin.add_element(config)
# Add brain config element
brain_config = Element(
tag_name='rv:brain',
attributes=brain_conf)
config.add_element(brain_config)
self.brain_builder.build(robot, model, brain_config, analyzer_mode)
self.body_builder.build(robot, model, config, analyzer_mode)
if battery:
config.add_element(battery)
if controller_plugin:
# Only add the plugin element when required
model.add_element(plugin)
return model