def Create_World():
# box
pyrosim.Start_SDF("world.sdf")
# the world
pyrosim.Send_Cube(name="Box", pos=[-2, 2, 0.5], size=[length, width, height])
# End
pyrosim.End()
def Generate_Brain(self):
pyrosim.Start_NeuralNetwork("brain" + str(self.myID) + ".nndf")
# pyrosim.Send_Sensor_Neuron(name=0, linkName="Torso")
# pyrosim.Send_Sensor_Neuron(name=1, linkName="BackLeg")
# pyrosim.Send_Sensor_Neuron(name=2, linkName="FrontLeg")
# pyrosim.Send_Motor_Neuron(name=3, jointName="Torso_BackLeg")
# pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_FrontLeg")
pyrosim.Send_Sensor_Neuron(name=0, linkName="FrontLowerLeg")
pyrosim.Send_Sensor_Neuron(name=1, linkName="BackLowerLeg")
pyrosim.Send_Sensor_Neuron(name=2, linkName="LeftLowerLeg")
pyrosim.Send_Sensor_Neuron(name=3, linkName="RightLowerLeg")
pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_BackLeg")
pyrosim.Send_Motor_Neuron(name=5, jointName="Torso_FrontLeg")
pyrosim.Send_Motor_Neuron(name=6, jointName="Torso_LeftLeg")
pyrosim.Send_Motor_Neuron(name=7, jointName="Torso_RightLeg")
pyrosim.Send_Motor_Neuron(name=8, jointName="BackLeg_BackLowerLeg")
pyrosim.Send_Motor_Neuron(name=9, jointName="FrontLeg_FrontLowerLeg")
pyrosim.Send_Motor_Neuron(name=10, jointName="LeftLeg_LeftLowerLeg")
pyrosim.Send_Motor_Neuron(name=11, jointName="RightLeg_RightLowerLeg")
for currentRow in range(c.numSensorNeurons):
for currentColumn in range(c.numMotorNeurons):
pyrosim.Send_Synapse(
sourceNeuronName=currentRow,
targetNeuronName=currentColumn + c.numSensorNeurons,
weight=self.weights[currentRow][currentColumn])
pyrosim.End()
while not os.path.exists("brain" + str(self.myID) + ".nndf"):
time.sleep(0.01)
def generate_brain(self):
pyrosim.Start_NeuralNetwork("brains/brain" + str(self.myID) + ".nndf")
linkNames = pyrosim.Get_Link_Names("body.urdf")
SensorNames = [name for name in linkNames if "Lower" in name]
jointNames = pyrosim.Get_Joint_Names("body.urdf")
self.numSensorNeuron = len(SensorNames)
self.numMotorNeuron = len(jointNames)
NextAvailableName = 0
for link in range(self.numSensorNeuron):
pyrosim.Send_Sensor_Neuron(name=NextAvailableName,
linkName=SensorNames[link])
NextAvailableName += 1
for joint in range(self.numMotorNeuron):
pyrosim.Send_Motor_Neuron(name=NextAvailableName,
jointName=jointNames[joint])
NextAvailableName += 1
for sensor in range(self.numSensorNeuron):
for motor in range(self.numMotorNeuron):
pyrosim.Send_Synapse(sourceNeuronName=sensor,
targetNeuronName=motor +
self.numSensorNeuron,
weight=self.weight[sensor, motor])
pyrosim.End()
def Generate_Body():
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[1,0,1.5], size=[length,width,height])
pyrosim.Send_Joint(name="Torso_BackLeg", parent="Torso", child="BackLeg", type="revolute", position="0.5 0 1.0")
pyrosim.Send_Cube(name="BackLeg", pos=[-0.5,0,-0.5], size=[length,width,height])
pyrosim.Send_Joint(name="Torso_FrontLeg", parent="Torso", child="FrontLeg", type="revolute", position="1.5 0 1.0")
pyrosim.Send_Cube(name="FrontLeg", pos=[0.5,0,-0.5], size=[length,width,height])
pyrosim.End()
def Generate_Body():
pyrosim.Start_URDF("body.urdf")
# Robot Torso
pyrosim.Send_Cube(name="Torso", pos=[1.5, 0, 1.5], size=[length, width, height])
# Connect BackLeg to Torso with one joint
pyrosim.Send_Joint(name="Torso_FrontLeg", parent="Torso", child="FrontLeg", type="revolute", position="2.0 0.0 1.0")
# Robot FrontLeg
pyrosim.Send_Cube(name="FrontLeg", pos=[0.5, 0, -0.5], size=[length, width, height])
# Connect FrontLeg to Torso with a second joint.
pyrosim.Send_Joint(name="Torso_BackLeg", parent="Torso", child="BackLeg", type="revolute", position="1.0 0.0 1.0")
# The other BackLeg
pyrosim.Send_Cube(name="BackLeg", pos=[-0.5, 0, -0.5], size=[length, width, height])
# End
pyrosim.End()
def Create_World():
pyrosim.Start_SDF("world.sdf")
length = 1
width = 1
height = 1
x = 5
y = 3
z = height / 2
pyrosim.Send_Cube(name="Box", pos=[x, y, z], size=[length, width, height])
pyrosim.End()
def Generate_Brain():
pyrosim.Start_NeuralNetwork("brain.nndf")
pyrosim.Send_Sensor_Neuron(name = 0, linkName = "Torso")
pyrosim.Send_Sensor_Neuron(name = 1, linkName = "BackLeg")
pyrosim.Send_Sensor_Neuron(name = 2, linkName = "FrontLeg")
pyrosim.Send_Motor_Neuron(name = 3, jointName = "Torso_BackLeg")
pyrosim.Send_Motor_Neuron(name = 4, jointName = "Torso_FrontLeg")
# pyrosim.Send_Synapse( sourceNeuronName=0, targetNeuronName=3, weight=-1.0 )
# pyrosim.Send_Synapse( sourceNeuronName=1, targetNeuronName=3, weight=-1.0 )
# pyrosim.Send_Synapse( sourceNeuronName=0, targetNeuronName=4, weight=-1.0 )
# pyrosim.Send_Synapse( sourceNeuronName=2, targetNeuronName=4, weight=-1.0 )
for i in {0, 1, 2}:
for j in {3, 4}:
pyrosim.Send_Synapse( sourceNeuronName=i, targetNeuronName=j, weight=random.uniform(-1, 1) )
pyrosim.End()
def Create_Robot():
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[0, 0, 1.5], size=[1, 1, 1])
pyrosim.Send_Joint(name="Torso_Leg_F",
parent="Torso",
child="LegFront",
type="revolute",
position="0.5 0 1")
pyrosim.Send_Cube(name="LegFront", pos=[0.5, 0, -.5], size=[1, 1, 1])
pyrosim.Send_Joint(name="Torso_Leg_B",
parent="Torso",
child="LegBack",
type="revolute",
position="-0.5 0 1")
pyrosim.Send_Cube(name="LegBack", pos=[-0.5, 0, -.5], size=[1, 1, 1])
pyrosim.End()
def Generate_Brain():
pyrosim.Start_NeuralNetwork("brain.nndf")
pyrosim.Send_Sensor_Neuron(name=0, linkName="Torso")
pyrosim.Send_Sensor_Neuron(name=1, linkName="BackLeg")
pyrosim.Send_Sensor_Neuron(name=2, linkName="FrontLeg")
pyrosim.Send_Motor_Neuron(name=3, jointName="Torso_BackLeg")
pyrosim.Send_Motor_Neuron(name=4, jointName="Torso_FrontLeg")
# Synapses
# pyrosim.Send_Synapse(sourceNeuronName=0, targetNeuronName=3, weight=-0.5)
# pyrosim.Send_Synapse(sourceNeuronName=1, targetNeuronName=3, weight=-1.0)
# pyrosim.Send_Synapse(sourceNeuronName=0, targetNeuronName=4, weight=-1.0)
# pyrosim.Send_Synapse(sourceNeuronName=2, targetNeuronName=4, weight=-0.5)
# pyrosim.End()
# random research
for sensor_neurons in range(0, 3): # iterate over the names of the three sensor neurons.
for motor_neurons in range(4, 5): # iterate over each of the two motor neurons
pyrosim.Send_Synapse(sourceNeuronName=sensor_neurons, targetNeuronName=motor_neurons,
weight=random.randrange(-1, 1))
pyrosim.End()
def Create_World():
pyrosim.Start_SDF("world.sdf")
pyrosim.Send_Cube(name="Box", pos=[4,4,z], size=[length,width,height])
pyrosim.End()
def Create_Body(self):
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[0, 0, 1], size=[1, 1, 1])
pyrosim.Send_Joint(name="Torso_FrontLeg",
parent="Torso",
child="FrontLeg",
type="revolute",
position="0.0 0.5 1.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="FrontLeg", pos=[0, 0.5, 0], size=[0.2, 1, 0.2])
pyrosim.Send_Joint(name="Torso_BackLeg",
parent="Torso",
child="BackLeg",
type="revolute",
position="0.0 -0.5 1.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="BackLeg", pos=[0, -0.5, 0], size=[0.2, 1, 0.2])
# Left-leg
pyrosim.Send_Joint(name="Torso_LeftLeg",
parent="Torso",
child="LeftLeg",
type="revolute",
position="-0.5 0.0 1.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="LeftLeg", pos=[-0.5, 0, 0], size=[1, 0.2, 0.2])
# Right-leg
pyrosim.Send_Joint(name="Torso_RightLeg",
parent="Torso",
child="RightLeg",
type="revolute",
position="0.5 0.0 1.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="RightLeg", pos=[0.5, 0, 0], size=[1, 0.2, 0.2])
# front lower leg
pyrosim.Send_Joint(name="FrontLeg_FrontLowerLeg",
parent="FrontLeg",
child="FrontLowerLeg",
type="revolute",
position="0.0 1.0 0.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="FrontLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# back lower leg
pyrosim.Send_Joint(name="BackLeg_BackLowerLeg",
parent="BackLeg",
child="BackLowerLeg",
type="revolute",
position="0.0 -1.0 0.0",
jointAxis="1 0 0")
pyrosim.Send_Cube(name="BackLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# left lower leg
pyrosim.Send_Joint(name="LeftLeg_LeftLowerLeg",
parent="LeftLeg",
child="LeftLowerLeg",
type="revolute",
position="-1.0 0.0 0.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="LeftLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# right lower leg
pyrosim.Send_Joint(name="RightLeg_RightLowerLeg",
parent="RightLeg",
child="RightLowerLeg",
type="revolute",
position="1.0 0.0 0.0",
jointAxis="0 1 0")
pyrosim.Send_Cube(name="RightLowerLeg",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
pyrosim.End()
def Create_World(self):
pyrosim.Start_SDF("world.sdf")
pyrosim.Send_Cube(name="Box", pos=[-2, 2, 0.5], size=[1, 1, 1])
pyrosim.End()
def Create_Robot(self):
pyrosim.Start_URDF("body.urdf")
pyrosim.Send_Cube(name="Torso", pos=[0, 0, 1], size=[1, 1, 0.5])
#Front Leg
pyrosim.Send_Joint(name="Torso_Leg_F",
parent="Torso",
child="LegFront",
type="revolute",
position="0 0.5 1",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegFront", pos=[0, 0.5, 0], size=[0.2, 1, 0.2])
pyrosim.Send_Joint(name="Leg_F_Leg_LF",
parent="LegFront",
child="LegLowerFront",
type="revolute",
position="0 1 0",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegLowerFront",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
#Back Leg
pyrosim.Send_Joint(name="Torso_Leg_B",
parent="Torso",
child="LegBack",
type="revolute",
position="0 -0.5 1",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegBack", pos=[0, -0.5, 0], size=[0.2, 1, 0.2])
pyrosim.Send_Joint(name="Leg_B_Leg_LB",
parent="LegBack",
child="LegLowerBack",
type="revolute",
position="0 -1 0",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegLowerBack",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# Right Leg
pyrosim.Send_Joint(name="Torso_Leg_R",
parent="Torso",
child="LegRight",
type="revolute",
position="0.5 0 1",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegRight", pos=[0.5, 0, 0], size=[1, 0.2, 0.2])
pyrosim.Send_Joint(name="Leg_R_Leg_LR",
parent="LegRight",
child="LegLowerRight",
type="revolute",
position="1 0 0",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegLowerRight",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
# Left Leg
pyrosim.Send_Joint(name="Torso_Leg_L",
parent="Torso",
child="LegLeft",
type="revolute",
position="-0.5 0 1",
jointAxis='0 1 0')
pyrosim.Send_Cube(name="LegLeft", pos=[-0.5, 0, 0], size=[1, 0.2, 0.2])
pyrosim.Send_Joint(name="Leg_L_Leg_LL",
parent="LegLeft",
child="LegLowerLeft",
type="revolute",
position="-1 0 0",
jointAxis='1 0 0')
pyrosim.Send_Cube(name="LegLowerLeft",
pos=[0, 0, -0.5],
size=[0.2, 0.2, 1])
pyrosim.End()
import pyrosim.pyrosim as pyrosim
pyrosim.Start_SDF("box.sdf")
pyrosim.Send_Cube(name="Box", pos=[0,0,0.5] , size=[1,1,1])
pyrosim.End()
