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

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import pybullet as p
import pyrosim.pyrosim as pyrosim
from pyrosim.neuralNetwork import NEURAL_NETWORK
from sensor import SENSOR
from motor import MOTOR
import os
import constants as c

class ROBOT:
    def __init__(self, solutionID):
        self.myID = solutionID
        self.robot = p.loadURDF("body.urdf")
        pyrosim.Prepare_To_Simulate("body.urdf")
        self.Prepare_To_Sense()
        self.Prepare_To_Act()
        self.nn = NEURAL_NETWORK("brain" + str(solutionID) + ".nndf")
        os.system("del brain" + str(solutionID) + ".nndf")

    def Prepare_To_Sense(self):
        self.sensors = {}
        for linkName in pyrosim.linkNamesToIndices:
            self.sensors[linkName] = SENSOR(linkName)

    def Sense(self, t):
        for i in self.sensors:
            self.sensors[i].Get_Value(t)

    def Prepare_To_Act(self):
        self.motors = {}
        for jointName in pyrosim.jointNamesToIndices:
            self.motors[jointName] = MOTOR(jointName)

    def Act(self, t):
        for neuronName in self.nn.Get_Neuron_Names():
            if self.nn.Is_Motor_Neuron(neuronName):
                jointName = self.nn.Get_Motor_Neurons_Joint(neuronName)
                desiredAngle = self.nn.Get_Value_Of(neuronName) * c.motorJointRange
                for i in self.motors:
                    self.motors[i].Set_Value(self.robot, desiredAngle)

    def Think(self):
        self.nn.Update()

    def Get_Fitness(self, solutionID):
        stateOfLinkZero = p.getLinkState(self.robot, 0)
        positionOfLinkZero = stateOfLinkZero[0]
        xCoordinateOfLinkZero = positionOfLinkZero[0]
        f = open("tmp" + str(self.myID) + ".txt", "w")
        f.write(str(xCoordinateOfLinkZero))
        f.close()
        os.system("rename tmp" + str(self.myID) + ".txt fitness" + str(self.myID) + ".txt")