Module TeachMyAgent.environments.envs.bodies.walkers.SpiderBody

Classes

class SpiderBody (scale, motors_torque=100, nb_pairs_of_legs=2, nb_steps_under_water=600, reset_on_hull_critical_contact=False)

Walking spider embodiment.

Creates a spider with n pair of legs.

Each legs has 3 parts.

Args

scale

Scale value used in the environment (to adapt the embodiment to its environment)

motors_torque

Maximum torque the embodiment can use on its motors

nb_pairs_of_legs

Number of pair of legs the agent has

nb_steps_under_water: How many consecutive steps the embodiment can survive under water

reset_on_hull_critical_contact

Whether a contact detected with the head should stop the episode

Expand source code

class SpiderBody(WalkerAbstractBody):
    '''
        Walking spider embodiment.
    '''
    def __init__(self, scale, motors_torque=100, nb_pairs_of_legs=2, nb_steps_under_water=600,
                 reset_on_hull_critical_contact=False):
        '''
            Creates a spider with `n` pair of legs.

            Each legs has 3 parts.

            Args:
                scale: Scale value used in the environment (to adapt the embodiment to its environment)
                motors_torque: Maximum torque the embodiment can use on its motors
                nb_pairs_of_legs: Number of pair of legs the agent has
                 nb_steps_under_water: How many consecutive steps the embodiment can survive under water
                reset_on_hull_critical_contact: Whether a contact detected with the head should stop the episode
        '''
        super(SpiderBody, self).__init__(scale, motors_torque, nb_steps_under_water)
        self.LEG_DOWN = 4 / self.SCALE
        self.LEG_W, self.LEG_H = 6 / self.SCALE, 20 / self.SCALE
        self.reset_on_hull_critical_contact = reset_on_hull_critical_contact

        self.nb_pairs_of_legs = nb_pairs_of_legs

        self.TORQUE_PENALTY = 0.00035 / self.nb_pairs_of_legs

        # not exact but works
        self.AGENT_WIDTH = MAIN_BODY_BOTTOM_WIDTH / self.SCALE + \
                           self.LEG_H * 4
        self.AGENT_HEIGHT = 20 / self.SCALE + \
                            self.LEG_H * 2
        self.AGENT_CENTER_HEIGHT = self.LEG_H + self.LEG_DOWN

    def draw(self, world, init_x, init_y, force_to_center):
        ''' Circular body
        MAIN_BODY_FIXTURES = fixtureDef(
            shape=circleShape(radius=0.4),
            density=1.0,
            restitution=0.0,
            categoryBits=0x20,
            maskBits=0x000F
        )

        '''
        MAIN_BODY_FIXTURES = [
            fixtureDef(
                shape=polygonShape(vertices=[(x / self.SCALE, y / self.SCALE) for x, y in polygon]),
                density=5.0,
                friction=0.1,
                categoryBits=0x20,
                maskBits=0x000F)
            for polygon in MAIN_BODY_POLYGONS
        ]

        LEG_FD = fixtureDef(
            shape=polygonShape(box=(self.LEG_W / 2, self.LEG_H / 2)),
            density=1.0,
            restitution=0.0,
            categoryBits=0x20,
            maskBits=0x000F)

        LOWER_FD = fixtureDef(
            shape=polygonShape(box=(0.8 * self.LEG_W / 2, self.LEG_H / 2)),
            density=1.0,
            restitution=0.0,
            categoryBits=0x20,
            maskBits=0x000F)

        main_body = world.CreateDynamicBody(
            position=(init_x, init_y),
            fixtures=MAIN_BODY_FIXTURES
        )

        basis_color1 = (0.6, 0.3, 0.5)
        basis_color2 = (0.4, 0.2, 0.3)
        main_body.color1 = tuple([c - 0.1 for c in basis_color1])
        main_body.color2 = tuple([c - 0.1 for c in basis_color2])
        leg_color1 = tuple([c + 0.1 for c in basis_color1])
        leg_color2 = tuple([c + 0.1 for c in basis_color2])

        main_body.ApplyForceToCenter((force_to_center, 0), True)

        main_body.userData = CustomBodyUserData(True, is_contact_critical=self.reset_on_hull_critical_contact, name="main_body")
        self.body_parts.append(main_body)
        self.reference_head_object = main_body


        for i in [+1, -1] * self.nb_pairs_of_legs:
            ##### First part of the leg #####
            upper_leg_angle = 0.25 * np.pi * i
            upper_leg_x_distance = np.sin(upper_leg_angle) * self.LEG_H / 2
            upper_leg_y_distance = np.cos(upper_leg_angle) * self.LEG_H / 2
            upper_leg_x = init_x - i * MAIN_BODY_BOTTOM_WIDTH / self.SCALE / 2 - upper_leg_x_distance
            upper_leg_y = init_y + upper_leg_y_distance - self.LEG_DOWN

            upper_leg = world.CreateDynamicBody(
                position=(upper_leg_x, upper_leg_y),
                angle=upper_leg_angle,
                fixtures=LEG_FD
            )
            upper_leg.color1 = leg_color1
            upper_leg.color2 = leg_color2

            rjd = revoluteJointDef(
                bodyA=main_body,
                bodyB=upper_leg,
                anchor=(init_x - i * MAIN_BODY_BOTTOM_WIDTH / self.SCALE / 2,
                        init_y - self.LEG_DOWN),
                enableMotor=True,
                enableLimit=True,
                maxMotorTorque=self.MOTORS_TORQUE,
                motorSpeed=1,
                lowerAngle=-0.1*np.pi,
                upperAngle=0.1*np.pi,
            )

            upper_leg.userData = CustomBodyUserData(False, name="upper_leg")
            self.body_parts.append(upper_leg)

            joint_motor = world.CreateJoint(rjd)
            joint_motor.userData = CustomMotorUserData(SPEED_HIP, False)
            self.motors.append(joint_motor)

            ##### Second part of the leg #####
            middle_leg_angle = 0.7 * np.pi * i
            middle_leg_x_distance = np.sin(middle_leg_angle) * self.LEG_H / 2
            middle_leg_y_distance = -np.cos(middle_leg_angle) * self.LEG_H / 2
            middle_leg_x = upper_leg_x - upper_leg_x_distance - middle_leg_x_distance
            middle_leg_y = upper_leg_y + upper_leg_y_distance - middle_leg_y_distance
            middle_leg = world.CreateDynamicBody(
                position=(middle_leg_x, middle_leg_y),
                angle=middle_leg_angle,
                fixtures=LEG_FD
            )
            middle_leg.color1 = leg_color1
            middle_leg.color2 = leg_color2

            rjd = revoluteJointDef(
                bodyA=upper_leg,
                bodyB=middle_leg,
                anchor=(upper_leg_x - upper_leg_x_distance,
                        upper_leg_y + upper_leg_y_distance),
                enableMotor=True,
                enableLimit=True,
                maxMotorTorque=self.MOTORS_TORQUE,
                motorSpeed=1,
                lowerAngle=-0.15*np.pi,
                upperAngle=0.15*np.pi,
            )

            middle_leg.userData = CustomBodyUserData(False, name="middle_leg")
            self.body_parts.append(middle_leg)

            joint_motor = world.CreateJoint(rjd)
            joint_motor.userData = CustomMotorUserData(SPEED_HIP, False)
            self.motors.append(joint_motor)

            ##### Third part of the leg #####
            lower_leg_angle = 0.9 * np.pi * i
            lower_leg_x_distance = np.sin(lower_leg_angle) * self.LEG_H / 2
            lower_leg_y_distance = -np.cos(lower_leg_angle) * self.LEG_H / 2
            lower_leg_x = middle_leg_x - middle_leg_x_distance - lower_leg_x_distance
            lower_leg_y = middle_leg_y - middle_leg_y_distance - lower_leg_y_distance
            lower_leg = world.CreateDynamicBody(
                position=(lower_leg_x, lower_leg_y),
                angle=lower_leg_angle,
                fixtures=LOWER_FD
            )
            lower_leg.color1 = leg_color1
            lower_leg.color2 = leg_color2

            rjd = revoluteJointDef(
                bodyA=middle_leg,
                bodyB=lower_leg,
                anchor=(middle_leg_x - middle_leg_x_distance,
                        middle_leg_y - middle_leg_y_distance ),
                enableMotor=True,
                enableLimit=True,
                maxMotorTorque=self.MOTORS_TORQUE,
                motorSpeed=1,
                lowerAngle=-0.2*np.pi,
                upperAngle=0.2*np.pi,
            )

            lower_leg.userData = CustomBodyUserData(True, name="lower_leg")
            self.body_parts.append(lower_leg)

            joint_motor = world.CreateJoint(rjd)
            joint_motor.userData = CustomMotorUserData(SPEED_KNEE,
                                                       True,
                                                       contact_body=lower_leg)
            self.motors.append(joint_motor)

Ancestors

• WalkerAbstractBody
• AbstractBody

Methods

def draw(self, world, init_x, init_y, force_to_center)

Circular body MAIN_BODY_FIXTURES = fixtureDef( shape=circleShape(radius=0.4), density=1.0, restitution=0.0, categoryBits=0x20, maskBits=0x000F )

Expand source code

def draw(self, world, init_x, init_y, force_to_center):
    ''' Circular body
    MAIN_BODY_FIXTURES = fixtureDef(
        shape=circleShape(radius=0.4),
        density=1.0,
        restitution=0.0,
        categoryBits=0x20,
        maskBits=0x000F
    )

    '''
    MAIN_BODY_FIXTURES = [
        fixtureDef(
            shape=polygonShape(vertices=[(x / self.SCALE, y / self.SCALE) for x, y in polygon]),
            density=5.0,
            friction=0.1,
            categoryBits=0x20,
            maskBits=0x000F)
        for polygon in MAIN_BODY_POLYGONS
    ]

    LEG_FD = fixtureDef(
        shape=polygonShape(box=(self.LEG_W / 2, self.LEG_H / 2)),
        density=1.0,
        restitution=0.0,
        categoryBits=0x20,
        maskBits=0x000F)

    LOWER_FD = fixtureDef(
        shape=polygonShape(box=(0.8 * self.LEG_W / 2, self.LEG_H / 2)),
        density=1.0,
        restitution=0.0,
        categoryBits=0x20,
        maskBits=0x000F)

    main_body = world.CreateDynamicBody(
        position=(init_x, init_y),
        fixtures=MAIN_BODY_FIXTURES
    )

    basis_color1 = (0.6, 0.3, 0.5)
    basis_color2 = (0.4, 0.2, 0.3)
    main_body.color1 = tuple([c - 0.1 for c in basis_color1])
    main_body.color2 = tuple([c - 0.1 for c in basis_color2])
    leg_color1 = tuple([c + 0.1 for c in basis_color1])
    leg_color2 = tuple([c + 0.1 for c in basis_color2])

    main_body.ApplyForceToCenter((force_to_center, 0), True)

    main_body.userData = CustomBodyUserData(True, is_contact_critical=self.reset_on_hull_critical_contact, name="main_body")
    self.body_parts.append(main_body)
    self.reference_head_object = main_body


    for i in [+1, -1] * self.nb_pairs_of_legs:
        ##### First part of the leg #####
        upper_leg_angle = 0.25 * np.pi * i
        upper_leg_x_distance = np.sin(upper_leg_angle) * self.LEG_H / 2
        upper_leg_y_distance = np.cos(upper_leg_angle) * self.LEG_H / 2
        upper_leg_x = init_x - i * MAIN_BODY_BOTTOM_WIDTH / self.SCALE / 2 - upper_leg_x_distance
        upper_leg_y = init_y + upper_leg_y_distance - self.LEG_DOWN

        upper_leg = world.CreateDynamicBody(
            position=(upper_leg_x, upper_leg_y),
            angle=upper_leg_angle,
            fixtures=LEG_FD
        )
        upper_leg.color1 = leg_color1
        upper_leg.color2 = leg_color2

        rjd = revoluteJointDef(
            bodyA=main_body,
            bodyB=upper_leg,
            anchor=(init_x - i * MAIN_BODY_BOTTOM_WIDTH / self.SCALE / 2,
                    init_y - self.LEG_DOWN),
            enableMotor=True,
            enableLimit=True,
            maxMotorTorque=self.MOTORS_TORQUE,
            motorSpeed=1,
            lowerAngle=-0.1*np.pi,
            upperAngle=0.1*np.pi,
        )

        upper_leg.userData = CustomBodyUserData(False, name="upper_leg")
        self.body_parts.append(upper_leg)

        joint_motor = world.CreateJoint(rjd)
        joint_motor.userData = CustomMotorUserData(SPEED_HIP, False)
        self.motors.append(joint_motor)

        ##### Second part of the leg #####
        middle_leg_angle = 0.7 * np.pi * i
        middle_leg_x_distance = np.sin(middle_leg_angle) * self.LEG_H / 2
        middle_leg_y_distance = -np.cos(middle_leg_angle) * self.LEG_H / 2
        middle_leg_x = upper_leg_x - upper_leg_x_distance - middle_leg_x_distance
        middle_leg_y = upper_leg_y + upper_leg_y_distance - middle_leg_y_distance
        middle_leg = world.CreateDynamicBody(
            position=(middle_leg_x, middle_leg_y),
            angle=middle_leg_angle,
            fixtures=LEG_FD
        )
        middle_leg.color1 = leg_color1
        middle_leg.color2 = leg_color2

        rjd = revoluteJointDef(
            bodyA=upper_leg,
            bodyB=middle_leg,
            anchor=(upper_leg_x - upper_leg_x_distance,
                    upper_leg_y + upper_leg_y_distance),
            enableMotor=True,
            enableLimit=True,
            maxMotorTorque=self.MOTORS_TORQUE,
            motorSpeed=1,
            lowerAngle=-0.15*np.pi,
            upperAngle=0.15*np.pi,
        )

        middle_leg.userData = CustomBodyUserData(False, name="middle_leg")
        self.body_parts.append(middle_leg)

        joint_motor = world.CreateJoint(rjd)
        joint_motor.userData = CustomMotorUserData(SPEED_HIP, False)
        self.motors.append(joint_motor)

        ##### Third part of the leg #####
        lower_leg_angle = 0.9 * np.pi * i
        lower_leg_x_distance = np.sin(lower_leg_angle) * self.LEG_H / 2
        lower_leg_y_distance = -np.cos(lower_leg_angle) * self.LEG_H / 2
        lower_leg_x = middle_leg_x - middle_leg_x_distance - lower_leg_x_distance
        lower_leg_y = middle_leg_y - middle_leg_y_distance - lower_leg_y_distance
        lower_leg = world.CreateDynamicBody(
            position=(lower_leg_x, lower_leg_y),
            angle=lower_leg_angle,
            fixtures=LOWER_FD
        )
        lower_leg.color1 = leg_color1
        lower_leg.color2 = leg_color2

        rjd = revoluteJointDef(
            bodyA=middle_leg,
            bodyB=lower_leg,
            anchor=(middle_leg_x - middle_leg_x_distance,
                    middle_leg_y - middle_leg_y_distance ),
            enableMotor=True,
            enableLimit=True,
            maxMotorTorque=self.MOTORS_TORQUE,
            motorSpeed=1,
            lowerAngle=-0.2*np.pi,
            upperAngle=0.2*np.pi,
        )

        lower_leg.userData = CustomBodyUserData(True, name="lower_leg")
        self.body_parts.append(lower_leg)

        joint_motor = world.CreateJoint(rjd)
        joint_motor.userData = CustomMotorUserData(SPEED_KNEE,
                                                   True,
                                                   contact_body=lower_leg)
        self.motors.append(joint_motor)

Inherited members

• WalkerAbstractBody:
  • activate_motors
  • get_action_size
  • get_elements_to_render
  • get_motors_state
  • get_state_size