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simulation.py
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simulation.py
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import pybullet as p
import pybullet_data
import constants as c
import time
import pyrosim.pyrosim as pyrosim
from world import WORLD
from robot import ROBOT
class SIMULATION:
def __init__(self,directOrGUI, solutionID):
self.directOrGUI = directOrGUI
self.solutionID = solutionID
if directOrGUI == 'DIRECT':
self.physicsClient = p.connect(p.DIRECT)
else:
self.physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0, 0, -9.8)
self.world = WORLD()
self.robot = ROBOT(self.solutionID)
def Run(self):
#targetAngles = numpy.sin(numpy.linspace(-(numpy.pi), +(numpy.pi), 1000))
#backLegTargetAngles = c.backLegAmplitude * numpy.sin(numpy.linspace(-(c.backLegFrequency * numpy.pi) + c.backLegPhaseOffset,(c.backLegFrequency * numpy.pi) + c.backLegPhaseOffset, num=1000))
#frontLegTargetAngles = c.frontLegAmplitude * numpy.sin(numpy.linspace(-(c.frontLegFrequency * numpy.pi) + c.frontLegPhaseOffset,(c.frontLegFrequency * numpy.pi) + c.frontLegPhaseOffset, num=1000))
for i in range(c.timeStep):
if self.directOrGUI == 'GUI':
time.sleep(c.sleep)
p.stepSimulation()
self.robot.Sense(i)
self.robot.Think()
self.robot.ACT(i)
def Get_Fitness(self):
self.robot.Get_Fitness(self.solutionID)
def __del__(self):
p.disconnect()