-
Notifications
You must be signed in to change notification settings - Fork 1
/
finalB.py
272 lines (247 loc) · 9.89 KB
/
finalB.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
from klampt import *
from klampt.glprogram import *
from klampt import gldraw
from controller import *
from sensor import *
import time
import random
import traceback
#TODO: change this to False when you are ready to test your state estimator
omniscientSensor = True
#TODO: change this to random.seed() when you are ready to stress-test your
#controller
random.seed(12345)
#random.seed()
class EventB:
"""This class does the event logic"""
def __init__(self,sim,difficulty=None):
if difficulty == None:
difficulty = 'easy'
self.difficulty = difficulty
self.score = 0
self.forfeit = False
self.lastpenaltytime = 0
self.tcontroller = 0
numballs = 10
self.ball = 0
if difficulty == 'easy':
self.balltimes = [2+i*2 for i in range(numballs)]
elif difficulty == 'medium':
self.balltimes = [1+i*1.5 for i in range(numballs)]
elif difficulty == 'hard':
self.balltimes = [1+i*1 for i in range(numballs)]
else:
raise ValueError("Invalid difficulty value "+str(difficulty))
self.activeBalls = [False]*numballs
self.endtime = self.balltimes[-1] + 3.0
#activate collision feedback
robot = sim.world.robot(0)
for i in range(robot.numLinks()):
for j in range(sim.world.numTerrains()):
sim.enableContactFeedback(robot.getLink(i).getID(),sim.world.terrain(j).getID())
def mark_controller_time(self,tcontroller):
self.tcontroller += tcontroller
def update(self,dt,sim):
if self.forfeit: return
t = sim.getTime()
if t > self.lastpenaltytime + 1.0:
if self.tcontroller > 5:
print "Event supervisor: Took too long to compute controls"
print " Result: forfeit"
self.score -= 5
self.forfeit = True
elif self.tcontroller > 1:
print "Event supervisor: Took too long to compute controls"
print " Time",self.tcontroller,"over the last 1s"
print " Penalty: 1"
self.score -= 1
self.tcontroller = 0
self.lastpenaltytime = t
#check joint limits, velocity limits, and torque limits
qrobot = sim.getActualConfig(0)
vrobot = sim.getActualVelocity(0)
trobot = sim.getActualTorques(0)
qmin,qmax = sim.world.robot(0).getJointLimits()
vmax = sim.world.robot(0).getVelocityLimits()
tmax = sim.world.robot(0).getTorqueLimits()
for i in range(7):
if qrobot[i] < qmin[i] or qrobot[i] > qmax[i]:
print "Event supervisor: Out of joint limits"
self.score -= dt*10
break
for i in range(1,7):
if abs(vrobot[i]) > vmax[i]:
print "Event supervisor: Out of velocity limits"
print vrobot,vmax
self.score -= dt*10
break
for i in range(6):
if abs(trobot[i]) > tmax[i+1]:
print "Event supervisor: Out of torque limits"
print trobot,tmax
self.score -= dt*10
break
#check collisions between robot and terrain
if self.inContact(sim):
print "Event supervisor: in contact with terrain"
self.score -= dt*30
#do ball kicking logic
self.doGameLogic(sim)
return
def doGameLogic(self,sim):
t = sim.getTime()
goalcenter = (-1,0,0.5)
goaldims = (1.5,1.5,0)
goalmin = vectorops.madd(goalcenter,goaldims,-0.5)
goalmax = vectorops.madd(goalcenter,goaldims,0.5)
if self.ball < len(self.balltimes) and t > self.balltimes[self.ball]:
obj = sim.world.rigidObject(self.ball)
ballbody = sim.getBody(obj)
Tb = ballbody.getTransform()
ballrad = 0.1
tgtx = random.uniform(goalmin[0],goalmax[0])
tgty = random.uniform(goalmin[1],goalmax[1])
target = (tgtx,
tgty,
goalcenter[2])
vel = vectorops.sub(target,Tb[1])
h = 1
if self.difficulty == "easy":
h=random.uniform(4,5)
elif self.difficulty == "medium":
h=random.uniform(3,6)
elif self.difficulty == "hard":
h=random.uniform(2,7)
#h = g*t^2 - 1/2*t*2*g
g = 9.8
t = math.sqrt(2*h/g)
vel = vectorops.mul(vel,0.5/t)
vel[2] = t*g
print "Event supervisor: Lobbing ball",self.ball,"target",target,"velocity",vel
self.activeBalls[self.ball] = True
ballbody.setTransform(Tb[0],vectorops.add(Tb[1],[0,0,0.05]))
ballbody.setVelocity([0,0,0],vel)
ballbody.enable(True)
self.ball += 1
#determine if any scored
rob = sim.world.robot(0)
ee = sim.getBody(rob.getLink(6))
eeTrans = ee.getTransform()
scoopmin = [-0.1,-0.1,0.12]
scoopmax = [0.1,0.1,0.32]
for i in range(self.ball):
if self.activeBalls[i]:
obj = sim.world.rigidObject(i)
Tb = sim.getBody(obj).getTransform()
Rb,tb = Tb
Rloc,tloc = se3.mul(se3.inv(eeTrans),Tb)
if all(tloc[i] > scoopmin[i] and tloc[i] < scoopmax[i] for i in range(3)):
print "Event supervisor: Ball",i,"scored, adding 10 points"
self.score += 10
sim.getBody(obj).setTransform(so3.identity(),[0,0,-10])
sim.getBody(obj).enable(False)
self.activeBalls[i] = False
if tb[2] < 0.06:
#fallen
sim.getBody(obj).enable(False)
self.activeBalls[i] = False
return
def inContact(self,sim):
"""Returns true if the robot touches the environment"""
robot = sim.world.robot(0)
for i in range(robot.numLinks()):
for j in range(sim.world.numTerrains()):
if sim.hadContact(robot.getLink(i).getID(),sim.world.terrain(j).getID()):
return True
return False
class GLTest(GLRealtimeProgram):
def __init__(self,simWorld,planningWorld,difficulty=None):
GLRealtimeProgram.__init__(self,"Final, group A")
self.simWorld = simWorld
self.planningWorld = planningWorld
self.sim = Simulator(self.simWorld)
self.event = EventB(self.sim,difficulty)
#set up sensors
self.sensors = dict()
global omniscientSensor
if omniscientSensor:
self.sensors['omniscient'] = OmniscientObjectSensor()
self.sensors['blobdetector'] = CameraColorDetectorSensor()
cameraRot = [0,-1,0,0,0,-1,1,0,0]
#on ground near robot, pointing up and slightly to the left
Tsensor = (so3.mul(so3.rotation([1,0,0],-0.10),so3.mul(so3.rotation([0,-1,0],math.radians(90)),cameraRot)),[-1.5,-0.5,0.25])
self.sensors['blobdetector'].Tsensor = Tsensor
self.controller = MyController(self.planningWorld,self.sim.getController(0))
#set up camera to get a better vantage point
self.camera.dist = 12
self.camera.tgt[2] = -1
self.clippingplanes = (0.2,50)
self.sim.simulate(0)
self.simulate = True
self.continueSimAfterForfeit = False
def display(self):
self.sim.updateWorld()
self.simWorld.drawGL()
self.controller.drawGL()
glEnable(GL_LIGHTING)
gldraw.xform_widget(self.sensors['blobdetector'].Tsensor,0.1,0.01,fancy=True)
def display_screen(self):
glDisable(GL_LIGHTING)
glColor3f(0,0,0)
glRasterPos2i(20,30)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Time: "+str(self.sim.getTime()))
glRasterPos2i(20,50)
gldraw.glutBitmapString(GLUT_BITMAP_HELVETICA_12,"Score: "+str(self.event.score))
def control_loop(self):
readings = dict()
for n,s in self.sensors.iteritems():
readings[n] = s.emulate(self.sim)
try:
self.controller.loop(self.dt,self.sim.getController(0),readings)
except Exception as e:
print "Exception called during controller.loop:"
traceback.print_exc()
exit(0)
def step(self):
t0 = time.time()
self.control_loop()
tcontroller = time.time()-t0
self.event.mark_controller_time(tcontroller)
self.sim.simulate(self.dt)
self.event.update(self.dt,self.sim)
if self.event.forfeit and not self.continueSimAfterForfeit:
if raw_input("Quit? (y/n) > ")=='y':
exit(0)
else:
self.continueSimAfterForfeit = True
if self.sim.getTime() >= self.event.endtime:
print "Final score:",self.event.score
self.refresh()
def keyboardfunc(self,c,x,y):
if c=='s':
self.simulate = not self.simulate
elif c==' ':
self.step()
self.refresh()
else:
self.controller.keypress(c)
self.refresh()
def idle(self):
if self.simulate:
self.step()
if __name__ == "__main__":
global objectColors
world = WorldModel()
world2 = WorldModel()
fn = "data/finalB.xml"
res = world.readFile(fn)
if not res:
raise RuntimeError("Unable to load world "+fn)
res = world2.readFile(fn)
for i in range(world.numRigidObjects()):
world.rigidObject(i).appearance().setColor(*objectColors[i%len(objectColors)])
world2.rigidObject(i).appearance().setColor(*objectColors[i%len(objectColors)])
difficulty = None
if len(sys.argv) >= 2:
difficulty = sys.argv[1]
GLTest(world,world2,difficulty).run()