def create_tensor_helper(sensors, timesteps, robot, command):
filename = '../data/robot{}.p'.format(robot)
s = pyrosim.Simulator(debug=False, play_paused=False, eval_time=c.evaluationTime, play_blind=True)
e = ENVIRONMENT0(s)
e.Send_To_Simulator([0, 0, 0], [0, 0, 0], c.noFade)
r = pickle.load(open(filename, 'rb'))
commandEncoding = db.Get_Command_Encoding(command)
if not NEW_DATABASE:
commandEncoding = np.array([[commandEncoding]])
# print(commandEncoding)
word_vector = np.zeros(len(commandEncoding[0, :]))
for i in range(0, len(commandEncoding[0, :])):
# print(i,':',commandEncoding[:,i])
word_vector[i] = commandEncoding[:, i]
r.Send_To_Simulator(s, [0, 0, 0], [0, 0, 0], c.noFade, commandEncoding[0][0], old_format=True)
s.assign_collision('robot', 'env')
s.assign_collision('env', 'env')
s.start()
s.wait_to_finish()
print(robot, end=", ", flush=True)
return (robot, s.get_sensor_data(-1), s.get_sensor_data(-2), s.get_sensor_data(-3))
def Start_Evaluation(self, playBlind, playPaused):
for s in range(0, c.NUM_DIFFERENT_COMMANDS_A_STUDENT_HEARS):
self.sims[s] = pyrosim.Simulator(debug=False,
play_blind=playBlind,
play_paused=playPaused,
eval_time=c.evaluationTime)
self.Send_To_Simulator(s)
def start_evaluation(self, env, pb):
num_robots = c.num_robots
# define simulation
self.sim = pyrosim.Simulator(play_paused=True,
eval_time=c.eval_time,
play_blind=pb)
self.robots = {}
for i in range(num_robots):
self.robots[i] = Robot(self.sim, self.genome, i * 0.5)
env.send_to(self.sim)
# run sim
self.sim.start()
def Start_Evaluation(self, env, pb, pp):
self.sim = pyro.Simulator(eval_steps=c.evalTime,
play_blind=pb,
play_paused=pp,
draw_joints=True)
# self.robot = Spiderbot(self.sim, self.genome)
self.robot = SimpleSpiderBot(self.sim, self.genome)
target = env.Send_To(self.sim)
self.robot.assign_target(self.sim, target, self.genome)
self.sim.assign_collision("env", "light")
self.sim.assign_collision("env", "robot")
self.sim.assign_collision("env", "body")
self.sim.assign_collision("env", "env")
self.sim.assign_collision("robot", "robot")
self.sim.set_camera(xyz=c.cameraLocation, hpr=c.cameraDirection)
self.sim.start()
self.current_env = env.ID