def set_trajectory(self,
distance,
tilt_speed_deg,
pan_speed_deg,
preinit=False):
self.distance = distance
tilt_speed = rad(tilt_speed_deg)
pan_speed = rad(pan_speed_deg)
self.speed = np.sqrt(tilt_speed**2 + pan_speed**2)
if self.speed > 0:
self.direction = np.arccos(pan_speed / self.speed)
else:
self.direction = 0.0
if tilt_speed < 0:
self.direction = -self.direction
self.set_episode_iteration(-1 if preinit else 0)
def set_delta_vergence_position(self, delta, joint_limit_type=None):
rad_delta = rad(delta)
left, right = self._check_pan_limit(
self.pan_left.get_joint_position() + rad_delta / 2,
self.pan_right.get_joint_position() - rad_delta / 2,
joint_limit_type)
self.pan_left.set_joint_position(left)
self.pan_right.set_joint_position(right)
def set_delta_pan_speed(self, delta, joint_limit_type=None):
self._pan_speed += rad(delta)
left, right = self._check_pan_limit(
self.pan_left.get_joint_position() + self._pan_speed,
self.pan_right.get_joint_position() + self._pan_speed,
joint_limit_type)
self.pan_left.set_joint_position(left)
self.pan_right.set_joint_position(right)
def set_pan_position(self, alpha, joint_limit_type=None):
rad_alpha = rad(alpha)
vergence = self.pan_left.get_joint_position(
) - self.pan_right.get_joint_position()
left, right = self._check_pan_limit((vergence / 2) + rad_alpha,
-(vergence / 2) + rad_alpha,
joint_limit_type)
self.pan_left.set_joint_position(left)
self.pan_right.set_joint_position(right)
def set_vergence_position(self, alpha, joint_limit_type=None):
rad_alpha = rad(alpha)
mean = (self.pan_right.get_joint_position() +
self.pan_left.get_joint_position()) / 2
left, right = self._check_pan_limit(mean + rad_alpha / 2,
mean - rad_alpha / 2,
joint_limit_type)
self.pan_left.set_joint_position(left)
self.pan_right.set_joint_position(right)
def __init__(self,
min_distance,
max_distance,
default_joint_limit_type="none"):
self.cam_left = VisionSensor("vs_cam_left#")
self.cam_right = VisionSensor("vs_cam_right#")
self.tilt_left = Joint("vs_eye_tilt_left#")
self.tilt_right = Joint("vs_eye_tilt_right#")
self.pan_left = Joint("vs_eye_pan_left#")
self.pan_right = Joint("vs_eye_pan_right#")
self.min_distance = min_distance
self.max_distance = max_distance
self.default_joint_limit_type = default_joint_limit_type
self._pan_max = rad(10)
self._tilt_max = rad(10)
self._tilt_speed = 0
self._pan_speed = 0
self.episode_reset()
def set_delta_tilt_speed(self, delta, joint_limit_type=None):
self._tilt_speed += rad(delta)
left, right = self._check_tilt_limit(
self.tilt_left.get_joint_position() -
self._tilt_speed, # minus to get natural upward movement
self.tilt_right.get_joint_position() -
self._tilt_speed, # minus to get natural upward movement
joint_limit_type)
self.tilt_left.set_joint_position(left)
self.tilt_right.set_joint_position(right)
def episode_reset(self):
### reset joints position / speeds
self.reset_speed()
self.tilt_right.set_joint_position(0)
self.tilt_left.set_joint_position(0)
fixation_distance = np.random.uniform(self.min_distance,
self.max_distance)
random_vergence = rad(to_angle(fixation_distance))
self.pan_left.set_joint_position(random_vergence / 2)
self.pan_right.set_joint_position(-random_vergence / 2)
def __init__(self, min_distance, max_distance, max_speed_in_deg,
textures_list):
shape = Shape("vs_screen#")
self._handle = shape.get_handle()
self.size = 1.5
self.textures_list = textures_list
self.min_distance = min_distance
self.max_distance = max_distance
self.max_speed = rad(max_speed_in_deg)
self.episode_reset()
def episode_reset(self, preinit=False):
self.distance = np.random.uniform(self.min_distance, self.max_distance)
self.speed = np.random.uniform(rad(0.0), rad(1.125))
self.direction = np.random.uniform(0, 2 * np.pi)
self.set_texture()
self.set_episode_iteration(-1 if preinit else 0)
def set_tilt_position(self, alpha, joint_limit_type=None):
rad_alpha = rad(alpha)
left, right = self._check_tilt_limit(rad_alpha, rad_alpha,
joint_limit_type)
self.tilt_left.set_joint_position(left)
self.tilt_right.set_joint_position(right)