import numpy as np import pygame import pygame.surfarray as surfarray from pygame.locals import * import PyGameUtils import Box2DWorld from ExpRobotSetup import ExpSetupEpuck box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT) #*************************** #PYGAME initialization #*************************** pygame.init() PyGameUtils.setScreenSize(640, 480) box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT) #flags = FULLSCREEN | DOUBLEBUF #screen = pygame.display.set_mode(box2dWH, flags, 8) screen = pygame.display.set_mode(box2dWH, 0, 32) screen.set_alpha(None) surfarray.use_arraytype('numpy') pygame.display.set_caption('Epuck Simulation') clock = pygame.time.Clock() exp = ExpSetupEpuck(n=2, debug=True) running = True while running:
sys.path.append('./_utils/') import numpy as np import pygame import pygame.surfarray as surfarray from pygame.locals import * import PyGameUtils import Box2DWorld from ExpRobotSetup import ExpSetupRandall #*************************** #PYGAME initialization #*************************** pygame.init() PyGameUtils.setScreenSize(800, 640) box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT) print box2dWH #flags = FULLSCREEN | DOUBLEBUF #screen = pygame.display.set_mode(box2dWH, flags, 8) screen = pygame.display.set_mode(box2dWH, 0, 32) screen.set_alpha(None) surfarray.use_arraytype('numpy') pygame.display.set_caption('Epuck Simulation') clock = pygame.time.Clock() exp = ExpSetupRandall(n=2, debug=True) running = True
import numpy as np import pygame import pygame.surfarray as surfarray from pygame.locals import * import PyGameUtils import Box2DWorld from expsetup import Exes_ExpSetup box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT) # *************************** # PYGAME initialization # *************************** pygame.init() PyGameUtils.setScreenSize(900, 600) # PyGameUtils.setScreenSize(720, 480) box2dWH = (PyGameUtils.SCREEN_WIDTH, PyGameUtils.SCREEN_HEIGHT) # flags = FULLSCREEN | DOUBLEBUF # screen = pygame.display.set_mode(box2dWH, flags, 8) screen = pygame.display.set_mode(box2dWH, 0, 32) screen.set_alpha(None) surfarray.use_arraytype('numpy') pygame.display.set_caption('Epuck AWESOME Simulation') clock = pygame.time.Clock() exp = Exes_ExpSetup(n=2, rounds=60, payoff="low", contextual=False, debug=True) #exp = IsmaExpSetup(n=2, rounds=50, payoff="high", contextual=False, debug=True) exp_time = 0
if(event.key== pygame.K_LEFT): exp.setMotorSpeed(0,dm) if(event.key== pygame.K_RIGHT): exp.setMotorSpeed(0,-dm) if(event.key== pygame.K_UP): exp.setMotorSpeed(1,dm) if(event.key== pygame.K_DOWN): exp.setMotorSpeed(1,-dm) if(event.key== pygame.K_SPACE): exp.resetPosition() if event.type==QUIT or event.key==K_ESCAPE: # The user closed the window or pressed escape running=False screen.fill((0,0,0,0)) #PyGameUtils.draw_contacts(screen,exp) PyGameUtils.draw_world(screen) Box2DWorld.step() #exp.update() PyGameUtils.draw_salient(screen, exp) PyGameUtils.my_draw_line(screen,[exp.getSalient()[0],exp.getLinkExtreme(0)]) PyGameUtils.my_draw_line(screen,[exp.getSalient()[1],exp.getLinkExtreme(1)]) pygame.display.flip() # Flip the screen and try to keep at the target FPS clock.tick(Box2DWorld.TARGET_FPS) pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " "*5)) pygame.quit() print('Done!')
if (event.type != pygame.KEYDOWN): continue if (event.key == pygame.K_LEFT): nao.arms[0].deltaMotor(dm) if (event.key == pygame.K_RIGHT): nao.arms[0].deltaMotor(-dm) if (event.key == pygame.K_UP): nao.arms[1].deltaMotor(dm) if (event.key == pygame.K_DOWN): nao.arms[1].deltaMotor(-dm) if (event.key == pygame.K_SPACE): exp.setObjPos() if event.type == pygame.QUIT or event.key == pygame.K_ESCAPE: # The user closed the window or pressed escape running = False screen.fill((0, 0, 0, 0)) PyGameUtils.draw_contacts(screen, exp) PyGameUtils.draw_world(screen) PyGameUtils.my_draw_line(screen, exp.getObjLine()) Box2DWorld.step() exp.update() PyGameUtils.draw_salient(screen, exp) pygame.display.flip() # Flip the screen and try to keep at the target FPS clock.tick(Box2DWorld.TARGET_FPS) pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " " * 5)) pygame.quit() print('Done!')
for event in pygame.event.get(): if(event.type!=pygame.KEYDOWN): continue if(event.key== pygame.K_LEFT): nao.arms[0].deltaMotor(dm) if(event.key== pygame.K_RIGHT): nao.arms[0].deltaMotor(-dm) if(event.key== pygame.K_UP): nao.arms[1].deltaMotor(dm) if(event.key== pygame.K_DOWN): nao.arms[1].deltaMotor(-dm) if(event.key== pygame.K_SPACE): exp.setObjPos() if event.type==pygame.QUIT or event.key==pygame.K_ESCAPE: running=False if(event.key== pygame.MOUSEBUTTONDOWN): pygame.mouse.get_pressed() screen.fill((0,0,0,0)) PyGameUtils.draw_contacts(screen,exp) PyGameUtils.draw_world(screen) #PyGameUtils.my_draw_line(screen, exp.getObjLine() ) Box2DWorld.step() exp.update() PyGameUtils.draw_salient(screen, exp) pygame.display.flip() # Flip the screen and try to keep at the target FPS clock.tick(Box2DWorld.TARGET_FPS) pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " "*5)) pygame.quit() print('Done!')
if(event.type!=KEYDOWN): continue if(event.key== pygame.K_LEFT): nao.arms[0].deltaMotor(dm) if(event.key== pygame.K_RIGHT): nao.arms[0].deltaMotor(-dm) if(event.key== pygame.K_UP): nao.arms[1].deltaMotor(dm) if(event.key== pygame.K_DOWN): nao.arms[1].deltaMotor(-dm) if(event.key== pygame.K_SPACE): exp.setObjPos() if event.type==QUIT or event.key==K_ESCAPE: # The user closed the window or pressed escape running=False screen.fill((0,0,0,0)) PyGameUtils.draw_contacts(screen,exp) PyGameUtils.draw_world(screen) PyGameUtils.my_draw_line(screen, exp.getObjLine() ) Box2DWorld.step() exp.update() PyGameUtils.draw_salient(screen, exp) pygame.display.flip() # Flip the screen and try to keep at the target FPS clock.tick(Box2DWorld.TARGET_FPS) pygame.display.set_caption("FPS: {:6.3}{}".format(clock.get_fps(), " "*5)) pygame.quit() print('Done!')