bots/generate.py at master · ebokelbe/bots · GitHub

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import pyrosim.pyrosim as pyrosim
import random

length = 1
width = 1
height = 1

x = 0
y = 0
z = 0.5

def Create_World():
    pyrosim.Start_SDF("world.sdf")

    pyrosim.Send_Cube(name="Box", pos=[4,4,z], size=[length,width,height])

    pyrosim.End()

def Generate_Body():
    pyrosim.Start_URDF("body.urdf")

    pyrosim.Send_Cube(name="Torso", pos=[1,0,1.5], size=[length,width,height])
    pyrosim.Send_Joint(name="Torso_BackLeg", parent="Torso", child="BackLeg", type="revolute", position="0.5 0 1.0")
    pyrosim.Send_Cube(name="BackLeg", pos=[-0.5,0,-0.5], size=[length,width,height])
    pyrosim.Send_Joint(name="Torso_FrontLeg", parent="Torso", child="FrontLeg", type="revolute", position="1.5 0 1.0")
    pyrosim.Send_Cube(name="FrontLeg", pos=[0.5,0,-0.5], size=[length,width,height])


    pyrosim.End()

def Generate_Brain():
    pyrosim.Start_NeuralNetwork("brain.nndf")

    pyrosim.Send_Sensor_Neuron(name = 0, linkName = "Torso")
    pyrosim.Send_Sensor_Neuron(name = 1, linkName = "BackLeg")
    pyrosim.Send_Sensor_Neuron(name = 2, linkName = "FrontLeg")

    pyrosim.Send_Motor_Neuron(name = 3, jointName = "Torso_BackLeg")
    pyrosim.Send_Motor_Neuron(name = 4, jointName = "Torso_FrontLeg")

    # pyrosim.Send_Synapse( sourceNeuronName=0, targetNeuronName=3, weight=-1.0 )
    # pyrosim.Send_Synapse( sourceNeuronName=1, targetNeuronName=3, weight=-1.0 )
    # pyrosim.Send_Synapse( sourceNeuronName=0, targetNeuronName=4, weight=-1.0 )
    # pyrosim.Send_Synapse( sourceNeuronName=2, targetNeuronName=4, weight=-1.0 )

    for i in {0, 1, 2}:
        for j in {3, 4}:
            pyrosim.Send_Synapse( sourceNeuronName=i, targetNeuronName=j, weight=random.uniform(-1, 1) )

    pyrosim.End()


Create_World()
Generate_Body()
Generate_Brain()