def Step(self, settings):
if not self.doorOpened:
#print(self.arm.get_points(self.arm.get_angles()))
settings.positionIterations = 50
settings.velocityIterations = 250
if self.door.joint.angle < -math.pi / 3:
self.doorOpened = True
print("Door Successfully Opened")
Framework.Step(self, settings)
self.update_keyboard_angles()
self.arm.update_arm_IK(self.arm_speeds[0], self.arm_speeds[1],
self.arm_speeds[2], self.arm_speeds[3])
if self.recording:
print("recording")
self.dataGen.produceAnnotation(self.arm, self.door,
self.arm_speeds)
if self.reset:
print("reset")
if self.recording:
self.dataGen.closeFile()
print("closed file")
self.dataGen.newFile()
self.__reset()
self.reset = False
def Step(self, settings):
settings.positionIterations = 50
settings.velocityIterations = 250
if self.door.joint.angle < -math.pi / 3:
self.doorOpened = True
print("Door Successfully Opened")
Framework.Step(self, settings)
self.update_keyboard_angles()
self.arm.update_arm(target_pose_mode=True)
renderer = self.renderer
def Step(self, settings):
Framework.Step(self, settings)
self.count -= 1
if self.count == 0:
return
self.world.CreateDynamicBody(
position=(0, 10),
allowSleep=False,
fixtures=b2FixtureDef(
density=1.0, shape=b2PolygonShape(box=(0.125, 0.125))),
)
def Step(self, settings):
Framework.Step(self, settings)
if self.go and settings.hz > 0.0:
self.time += 1.0 / settings.hz
linear_offset = (6 * sin(2.0 * self.time), 8.0 +
4.0 * sin(1.0 * self.time))
angular_offset = 4.0 * self.time
self.joint.linearOffset = linear_offset
self.joint.angularOffset = angular_offset
renderer = self.renderer
renderer.DrawPoint(renderer.to_screen(
linear_offset), 4, b2Color(0.9, 0.9, 0.9))
def Step(self, settings):
Framework.Step(self, settings)
# Apply external force
# Apply spring force to building 1
x0 = 0 - self.floor[0].position.x
x1 = self.floor[1].position.x - self.floor[0].position.x
self.floor[0].ApplyForce((spring_k * (x0 + x1), 0), (0, 0), True)
xf = self.floor[-2].position.x - self.floor[-1].position.x
self.floor[-1].ApplyForce((spring_k * xf, 0), (0, 0), True)
for i in range(1, num_of_floors - 1):
x_bot = self.floor[i - 1].position.x - self.floor[i].position.x
x_top = self.floor[i + 1].position.x - self.floor[i].position.x
self.floor[i].ApplyForce((spring_k * (x_bot + x_top), 0), (0, 0),
True)
# Apply pendulum damping
rel_vel = self.pendulum.linearVelocity.x - self.floor[
-1].linearVelocity.x
self.pendulum.ApplyForce((-pendulum_damping * rel_vel, 0), (0, 0),
True)
# Apply spring force to building 2
x0 = self.base2.position.x - self.floor2[0].position.x
x1 = self.floor2[1].position.x - self.floor2[0].position.x
self.floor2[0].ApplyForce((spring_k * (x0 + x1), 0), (0, 0), True)
xf = self.floor2[-2].position.x - self.floor2[-1].position.x
self.floor2[-1].ApplyForce((spring_k * xf, 0), (0, 0), True)
for i in range(1, num_of_floors - 1):
x_bot = self.floor2[i - 1].position.x - self.floor2[i].position.x
x_top = self.floor2[i + 1].position.x - self.floor2[i].position.x
self.floor2[i].ApplyForce((spring_k * (x_bot + x_top), 0), (0, 0),
True)
# Logging
print(str(self.time) + " " + str(self.floor[-1].position.x),
file=open("last_data_point.dat", "w"),
flush=True)
self.time += 1 / 60
def Step(self, settings):
Framework.Step(self, settings)
renderer = self.renderer
try:
poly = b2PolygonShape(vertices=self.verts)
except AssertionError as ex:
self.Print('b2PolygonShape failed: %s' % ex)
else:
self.Print('Valid: %s' % poly.valid)
renderer.DrawPolygon([renderer.to_screen(v)
for v in self.verts], b2Color(0.9, 0.9, 0.9))
for i, v in enumerate(self.verts):
renderer.DrawPoint(renderer.to_screen(v), 2.0,
b2Color(0.9, 0.5, 0.5))
x, y = renderer.to_screen(v)
self.DrawStringAt(x + 0.05, y + 0.05, '%d' % i)
if self.auto:
self.generate()
def Step(self, settings):
Framework.Step(self, settings)
blob_step(self.world, self.bodies, self.blob_radius, self.jump,
self.move)
self.jump = 100
def Step(self, settings):
Framework.Step(self, settings)
laser_display(self.renderer,
self.laser_body,
laser_half_width=LASER_HALF_WIDTH)