Module TeachMyAgent.environments.envs.bodies.walkers.old.OldBigQuadruBody

Classes

class OldBigQuadruBody (scale, motors_torque=300, nb_steps_under_water=600, reset_on_hull_critical_contact=False)

Quadrupedal walker implemented in https://github.com/flowersteam/teachDeepRL.

Creates a big quadrupedal walker.

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_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 OldBigQuadruBody(WalkerAbstractBody):
    '''
        Quadrupedal walker implemented in https://github.com/flowersteam/teachDeepRL.
    '''
    def __init__(self, scale, motors_torque=300, nb_steps_under_water=600, reset_on_hull_critical_contact=False):
        '''
            Creates a big quadrupedal walker.

            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_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(OldBigQuadruBody, self).__init__(scale, motors_torque, nb_steps_under_water)
        self.LEG_DOWN = -8 / self.SCALE  # 0 = center of hull
        self.LEG_W, self.LEG_H = 10 / self.SCALE, 51 / self.SCALE
        self.TORQUE_PENALTY = 0.00035 / 2 # Because 2 pairs of legs
        self.reset_on_hull_critical_contact = reset_on_hull_critical_contact

        # Approximative...
        self.AGENT_WIDTH = HULL_BOTTOM_WIDTH / self.SCALE
        self.AGENT_HEIGHT = 25 / self.SCALE + \
                            self.LEG_H * 2 - self.LEG_DOWN
        self.AGENT_CENTER_HEIGHT = self.LEG_H * 2 + self.LEG_DOWN

        self.old_morphology = True

        self.nb_motors = 8
        self.state_size = self.nb_motors * 2 + 4

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

        hull = world.CreateDynamicBody(
            position=(init_x, init_y),
            fixtures=HULL_FIXTURES
        )
        hull.color1 = (0.5, 0.4, 0.9)
        hull.color2 = (0.3, 0.3, 0.5)
        hull.ApplyForceToCenter((force_to_center, 0), True)

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

        for x_anchor in [-1.2, 0.85]:
            absolute_x = init_x + np.interp(x_anchor, [-1,1], [-HULL_BOTTOM_WIDTH / 2 / self.SCALE, HULL_BOTTOM_WIDTH / 2 / self.SCALE])
            for i in [-1, +1]:
                leg = world.CreateDynamicBody(
                    position=(absolute_x, init_y - self.LEG_H / 2 - self.LEG_DOWN),
                    angle=(i * 0.05),
                    fixtures=LEG_FD
                )
                leg.color1 = (0.6 - i / 10., 0.3 - i / 10., 0.5 - i / 10.)
                leg.color2 = (0.4 - i / 10., 0.2 - i / 10., 0.3 - i / 10.)
                rjd = revoluteJointDef(
                    bodyA=hull,
                    bodyB=leg,
                    localAnchorA=(x_anchor, self.LEG_DOWN),
                    localAnchorB=(0, self.LEG_H / 2),
                    enableMotor=True,
                    enableLimit=True,
                    maxMotorTorque=self.MOTORS_TORQUE,
                    motorSpeed=i,
                    lowerAngle=-0.8,
                    upperAngle=1.1,
                )

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

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

                lower = world.CreateDynamicBody(
                    position=(absolute_x, init_y - self.LEG_H * 3 / 2 - self.LEG_DOWN),
                    angle=(i * 0.05),
                    fixtures=LOWER_FD
                )
                lower.color1 = (0.6 - i / 10., 0.3 - i / 10., 0.5 - i / 10.)
                lower.color2 = (0.4 - i / 10., 0.2 - i / 10., 0.3 - i / 10.)
                rjd = revoluteJointDef(
                    bodyA=leg,
                    bodyB=lower,
                    localAnchorA=(0, -self.LEG_H / 2),
                    localAnchorB=(0, self.LEG_H / 2),
                    enableMotor=True,
                    enableLimit=True,
                    maxMotorTorque=self.MOTORS_TORQUE,
                    motorSpeed=1,
                    lowerAngle=-1.6,
                    upperAngle=-0.1,
                )

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

                joint_motor = world.CreateJoint(rjd)
                joint_motor.userData = CustomMotorUserData(
                    SPEED_KNEE,
                    True,
                    contact_body=lower,
                    angle_correction=1.0)
                self.motors.append(joint_motor)

Ancestors

• WalkerAbstractBody
• AbstractBody

Inherited members

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