implemented an example for minidora

examples/minidora_follow_blue.py

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+import sys, os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + '/../')
+
+import cv2
+import numpy as np 
+import time
+import signal
+
+from noh.core import Circuit
+from environments import minidora
+from architecture import SeedWBA
+
+
+# 検出したい青色の範囲をHSVで指定
+LOWER_BLUE = np.array([90, 100, 50])
+UPPER_BLUE = np.array([110, 255, 255])
+MAX_STEP = 300
+RANGE_SLEEP = 0.1 # [sec]
+
+debug = False
+env = minidora.MinidoraEnv('0.0.0.0', 'minidora-v0-mutsuki.local')
+
+def calc_blue_position(img):
+    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    mask = cv2.inRange(hsv, LOWER_BLUE, UPPER_BLUE)
+    mass = mask.sum(axis=0)
+    x = np.arange(mass.shape[0])
+    try:
+        x_g = np.average(x, weights=mass)
+    except ZeroDivisionError:
+        return 0
+    if debug:
+        cv2.imshow("mask", mask)
+        cv2.waitKey(1)
+    angle = (x_g - mass.shape[0] / 2) / mass.shape[0]/2
+    return angle # angle: [-1, 1]
+
+def move_to(angle): # tekitou 
+    action = [0,0,-0.15,-0.15]
+    if angle > 0:
+        action[3] -= angle*0.4
+    else:
+        action[2] += angle*0.4
+    return action 
+
+def stop():
+    env.step([0,0,0,0])
+
+def main():
+    arch = SeedWBA()
+    circuit = Circuit(
+        ('sa', 'bg')
+    )
+    circuit.implement(sa=calc_blue_position, bg=move_to)
+    arch.add_circuits(test=circuit)
+
+    for i in range(MAX_STEP):
+        img = env.image
+        action = arch.test(img)
+        env.step(action)
+        time.sleep(RANGE_SLEEP)
+    stop()
+    print('following blue ended')
+    return
+
+
+if __name__ == '__main__':
+    signal.signal(signal.SIGINT, stop)
+    main()