// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-1.64766, 4.48823, 1.71381), Pos(-158.908, -10.5863, 0));
// initialization
// - set noise to 0.0
// - register file chess.ppm as a texture called chessTexture (used for the wheels)
global.odeConfig.setParam("controlinterval",1);
global.odeConfig.setParam("noise",0.01);
global.odeConfig.setParam("realtimefactor",1);
global.odeConfig.setParam("gravity", -6);
// global.odeConfig.setParam("cameraspeed", 250);
// int chessTexture = dsRegisterTexture("chess.ppm");
bool useDerivativeWiring=false;
// environemnt (type is set in constructor)
env.numSpheres = 0;
env.numBoxes = 0;
env.numCapsules = 0;
env.numSeeSaws = 0;
env.roughness = 1.0;
// use Playground as boundary:
if(barriers){
env.widthground = 4;
env.distance = 6;
env.numgrounds = 5;
env.height = 0.1;
env.heightincrease =0.1;
}else {
env.widthground = 32;
env.height = 1.0;
}
env.create(odeHandle, osgHandle, global);
global.configs.push_back(&env);
// Boxpile* boxpile = new Boxpile(odeHandle, osgHandle, Pos(10,10,0.2),
// 100,0, Pos(0.3,0.3,0.05), Pos(0.3,0.3,0.05)
// );
// boxpile->setColor("wall");
// boxpile->setPose(ROTM(M_PI/5.0,0,0,1)*TRANSM(0, 0 ,0.2));
// global.obstacles.push_back(boxpile);
for (int i=0; i< 1/*2*/; i++){ //Several dogs
// VierBeinerConf conf = VierBeiner::getDefaultConf();
VierBeinerConf conf = VierBeiner::getDefaultConfVelServos();
conf.dampingFactor = .0;
conf.powerFactor = 1.3;
if(air) conf.powerFactor = 0.3;
if (hippo) conf.powerFactor = 1.5;
conf.hipJointLimit = M_PI/3.0;
if ( barriers) conf.hipJointLimit = M_PI/2.5;
conf.kneeJointLimit = M_PI/3;
conf.legNumber = 4; /* for the dog's sake use only even numbers */
conf.useBigBox = false;
if(hippo) conf.useBigBox = false;
conf.drawstupidface=true;
conf.hippo = hippo;
// conf.onlyMainParameters = false; // all parameters
OdeHandle doghandle = odeHandle;
doghandle.substance.toRubber(10);
VierBeiner* dog = new VierBeiner(doghandle, osgHandle,conf, "Dog");
std::list<Sensor*> sensors;
sensors.push_back(new SpeedSensor(1,SpeedSensor::TranslationalRel));
AddSensors2RobotAdapter* robot =
new AddSensors2RobotAdapter(odeHandle,osgHandle,dog, sensors);
//dog->place(osg::Matrix::translate(0,0,0.15));
robot->place(osg::Matrix::translate(0,0,.5 + 4*i));
if(air || barriers){
Primitive* trunk = dog->getMainPrimitive();
fixator = new FixedJoint(trunk, global.environment);
fixator->init(odeHandle, osgHandle);
}
// create pointer to one2onewiring
//AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
double booster = 0.05;
if(air) booster=0;
AbstractWiring* wiring;
if(!useDerivativeWiring){
wiring = new ForceBoostWiring(new ColorUniformNoise(0.1), booster);
}else{
////////////////
AbstractWiring* fbw = new ForceBoostWiring(new NoNoise(), booster);
DerivativeWiringConf dc = DerivativeWiring::getDefaultConf();
dc.useId=true;
dc.useFirstD=true;
// dc.derivativeScale = 1.0;
AbstractWiring* drw = new DerivativeWiring(dc, new ColorUniformNoise(0.1));
if(!useDerivativeWiring){ wiring = new WiringSequence(fbw, drw); // TODO booster bei derivative wiring ???
}
}
AbstractController *controller = new Sox(.7, false);
//AbstractController *controller = new SineController();
controller->setParam("Logarithmic", 1);
controller->setParam("epsC",0.05);
if ( hippo) controller->setParam("epsC",0.1);
controller->setParam("epsA",0.01);
controller->setParam("damping",0.0001);
controller->setParam("period",300);
controller->setParam("phaseshift",0);
AbstractController* cont= new GroupController(controller,3); // 3 context sensor
OdeAgent* agent = new OdeAgent(global);
agent->init(cont, robot, wiring);
if(!hippo){
// add an operator to keep robot from falling over
agent->addOperator(new LimitOrientationOperator(Axis(0,0,1), Axis(0,0,1),
M_PI*0.35, 10));
}
//agent->setTrackOptions(TrackRobot(true,true,false,true,"bodyheight",20)); // position and speed tracking every 20 steps
global.agents.push_back(agent);
global.configs.push_back(agent);
}// Several dogs end
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-6.32561, 5.12705, 3.17278), Pos(-130.771, -17.7744, 0));
global.odeConfig.setParam("noise", 0.05);
global.odeConfig.setParam("controlinterval", 2);
global.odeConfig.setParam("cameraspeed", 250);
global.odeConfig.setParam("gravity", -6);
setParam("UseQMPThread", false);
// use Playground as boundary:
AbstractGround* playground =
new Playground(odeHandle, osgHandle, osg::Vec3(8, 0.2, 1), 1);
// // playground->setColor(Color(0,0,0,0.8));
playground->setGroundColor(Color(2,2,2,1));
playground->setPosition(osg::Vec3(0,0,0.05)); // playground positionieren und generieren
global.obstacles.push_back(playground);
Boxpile* boxpile = new Boxpile(odeHandle, osgHandle);
boxpile->setColor("wall");
boxpile->setPose(ROTM(M_PI/5.0,0,0,1)*TRANSM(0, 0,0.2));
global.obstacles.push_back(boxpile);
// global.obstacles.push_back(playground);
// double diam = .90;
// OctaPlayground* playground3 = new OctaPlayground(odeHandle, osgHandle, osg::Vec3(/*Diameter*/4.0*diam, 5,/*Height*/ .3), 12,
// false);
// // playground3->setColor(Color(.0,0.2,1.0,1));
// playground3->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
// global.obstacles.push_back(playground3);
controller=0;
// addParameter("gamma_s",&teacher);
global.configs.push_back(this);
for(int i=0; i< bars; i++) {
PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(0.,0.,0.)),
osg::Vec3(1,10,0.3+i*.1),10);
b->setPosition(osg::Vec3(10+i*7,0,0));
global.obstacles.push_back(b);
}
/******* H E X A P O D *********/
int numhexapods = 1;
for ( int ii = 0; ii< numhexapods; ii++) {
HexapodConf myHexapodConf = Hexapod::getDefaultConf();
myHexapodConf.coxaPower = 1.5;
myHexapodConf.tebiaPower = 0.8;
myHexapodConf.coxaJointLimitV = .9; // M_PI/8; // angle range for vertical dir. of legs
myHexapodConf.coxaJointLimitH = 1.3; //M_PI/4;
myHexapodConf.tebiaJointLimit = 1.8; // M_PI/4; // +- 45 degree
myHexapodConf.percentageBodyMass = .5;
myHexapodConf.useBigBox = false;
myHexapodConf.tarsus = true;
myHexapodConf.numTarsusSections = 1;
myHexapodConf.useTarsusJoints = true;
// myHexapodConf.numTarsusSections = 2;
OdeHandle rodeHandle = odeHandle;
rodeHandle.substance.toRubber(20);
vehicle = new Hexapod(rodeHandle, osgHandle.changeColor("Green"),
myHexapodConf, "Hexapod_" + std::itos(teacher*10000));
// on the top
vehicle->place(osg::Matrix::rotate(M_PI*1,1,0,0)*osg::Matrix::translate(0,0,1.5+ 2*ii));
// normal position
// vehicle->place(osg::Matrix::translate(0,0,0));
// InvertMotorNStepConf cc = InvertMotorNStep::getDefaultConf();
// cc.cInit=1.0;
// cc.useS=false;
// cc.someInternalParams=true;
// InvertMotorNStep *semox = new InvertMotorNStep(cc);
// semox->setParam("steps", 1);
// semox->setParam("continuity", 0.005);
// semox->setParam("teacher", teacher);
SoMLConf sc = SoML::getDefaultConf();
sc.useHiddenContr=true;
sc.useHiddenModel=false;
sc.someInternalParams=false;
sc.useS=false;
SoML* soml = new SoML(sc);
soml->setParam("epsC",0.105);
soml->setParam("epsA",0.05);
Sox* sox = new Sox(1.2, false);
sox->setParam("epsC",0.105);
sox->setParam("epsA",0.05);
sox->setParam("Logarithmic",1);
SeMoXConf cc = SeMoX::getDefaultConf();
//cc.cInit=.95;
cc.cInit=.99;
cc.modelExt=false;
cc.someInternalParams=true;
SeMoX* semox = new SeMoX(cc);
DerInfConf dc = DerInf::getDefaultConf();
dc.cInit=.599;
dc.someInternalParams=false;
AbstractController* derinf = new DerInf(dc);
derinf->setParam("epsC",0.1);
derinf->setParam("epsA",0.05);
AbstractController* sine = 0;
if(useSineController) {
// sine = new SineController(~0, SineController::Sine);
sine = new SineController(~0, SineController::Impulse);
// // // // // motorpower 20
sine->setParam("period", 30);
sine->setParam("phaseshift", 0.5);
sine->setParam("amplitude", 0.5);
}
semox->setParam("epsC", 0.1);
semox->setParam("epsA", 0.1);
semox->setParam("rootE", 3);
semox->setParam("s4avg", 1);
semox->setParam("gamma_cont", 0.005);
semox->setParam("gamma_teach", teacher);
if(useSineController) {
controller = sine;
} else {
// controller = semox;
controller = sox;
// controller = soml;
// controller = derinf;
}
One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
// the feedbackwiring feeds here 75% of the motor actions as inputs and only 25% of real inputs
// AbstractWiring* wiring = new FeedbackWiring(new ColorUniformNoise(0.1),
// FeedbackWiring::Motor, 0.75);
//global.plotoptions.push_back(PlotOption(GuiLogger,Robot,5));
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, vehicle, wiring);
// add an operator to keep robot from falling over
agent->addOperator(new LimitOrientationOperator(Axis(0,0,1), Axis(0,0,1), M_PI*0.5, 30));
if(track) {
TrackRobotConf c = TrackRobot::getDefaultConf();
c.displayTrace = true;
c.scene = "";
c.interval = 1;
c.trackSpeed = false;
c.displayTraceThickness = 0.01;
agent->setTrackOptions(TrackRobot(c));
}
if(tracksegm) {
TrackRobotConf c = TrackRobot::getDefaultConf();
Color col = osgHandle.getColor("joint");
c.displayTrace = true;
c.scene = "segm";
c.interval = 1;
c.displayTraceThickness = 0.02;
col.alpha() = 0.5;
agent->addTracking(5, TrackRobot(c), col);
agent->addTracking(8, TrackRobot(c), col);
}
global.agents.push_back(agent);
global.configs.push_back(agent);
//agent->startMotorBabblingMode(5000);
// this->getHUDSM()->setColor(Color(1.0,1.0,0));
// this->getHUDSM()->setFontsize(18);
// this->getHUDSM()->addMeasure(teacher,"gamma_s",ID,1);
}
}