jyro.simulator package

Submodules

jyro.simulator.canvas module

class jyro.simulator.canvas.Canvas(size, overlay=False)

Bases: object

clear()

drawArrow(cx, cy, angle, size, fill='', outline='black')

drawCircle(cx, cy, radius, fill='', outline='black')

drawLine(x1, y1, x2, y2, width=3, outline='black')

drawOval(x1, y1, x2, y2, fill='', outline='black')

drawPolygon(points, fill='', outline='black')

drawRectangle(x1, y1, x2, y2, fill='', outline='black')

drawText(x, y, text, fill='black')

popMatrix()

pos_x(x)

pos_y(y)

pushMatrix()

render(format='SVG', **attribs)

reset()

rotate(r)

save(filename)

translate(x, y)

jyro.simulator.canvas.distance(p1, p2)

Return distance between two points

jyro.simulator.color module

jyro.simulator.device module

class jyro.simulator.device.Camera(width=60, height=40, field=120)

Bases: jyro.simulator.device.Device

draw(robot, canvas)

getData()

Return the data as a 3D matrix in (width, height, channel) order.

getImage()

serialize(item='all')

item = ‘all’ or ‘data’

update(robot)

class jyro.simulator.device.DepthCamera(maxDist, *args, **kwargs)

Bases: jyro.simulator.device.Camera

getImage()

class jyro.simulator.device.Device(type)

Bases: object

additionalSegments(propose, x, y, cos_a90, sin_a90, **dict)

Add dynamic, extra bounding box segments to robot.

draw(robot, canvas)

serialize(item='all')

item = ‘all’ or ‘data’

step()

update(robot)

class jyro.simulator.device.Gripper

Bases: jyro.simulator.device.Device

additionalSegments(propose, x, y, cos_a90, sin_a90, **dict)

close()

deploy()

draw(robot, canvas)

isClosed()

isMoving()

isOpened()

moveWhere()

open()

serialize(item='all')

item = ‘all’ or ‘data’

step()

stop()

store()

update(robot)

class jyro.simulator.device.LightSensor(geometry, maxRange, noise=0.0)

Bases: jyro.simulator.device.Device

draw(robot, canvas)

getData()

getPose(index)

serialize(item='all')

item = ‘all’ or ‘data’

update(robot)

class jyro.simulator.device.MyroBumper

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.MyroIR

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.MyroLightSensors

Bases: jyro.simulator.device.LightSensor

class jyro.simulator.device.Pioneer16Sonars(maxRange=8.0, noise=0.0)

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.Pioneer4FrontLightSensors(maxRange)

Bases: jyro.simulator.device.LightSensor

class jyro.simulator.device.Pioneer4Sonars(maxRange=8.0, noise=0.0)

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.PioneerBackSonars(maxRange=8.0, noise=0.0)

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.PioneerFrontLightSensors(maxRange)

Bases: jyro.simulator.device.LightSensor

class jyro.simulator.device.PioneerFrontSonar(maxRange=8.0, noise=0.0)

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.PioneerFrontSonars(maxRange=8.0, noise=0.0)

Bases: jyro.simulator.device.RangeSensor

class jyro.simulator.device.RangeSensor(name, geometry, arc, maxRange, noise=0.0)

Bases: jyro.simulator.device.Device

getData()

serialize(item='all')

item = ‘all’ or ‘data’

update(robot)

class jyro.simulator.device.Speech

Bases: jyro.simulator.device.Device

draw(robot, canvas)

serialize(item='all')

item = ‘all’ or ‘data’

jyro.simulator.robot module

class jyro.simulator.robot.Blimp(*args, **kwargs)

Bases: jyro.simulator.robot.Robot

drawRobot(canvas)

class jyro.simulator.robot.Pioneer(name, x, y, a, color='red')

Bases: jyro.simulator.robot.Robot

drawRobot(canvas)

Draws the body of the robot. Not very efficient.

class jyro.simulator.robot.Puck(*args, **kwargs)

Bases: jyro.simulator.robot.Robot

drawRobot(canvas)

Draws the body of the robot. Not very efficient.

class jyro.simulator.robot.Robot(name, x, y, a, boundingBox=None, color='red')

Bases: object

addBoundingSeg(boundingSeg)

addDevice(dev)

additionalSegments(propose, x, y, cos_a90, sin_a90, **dict)

propose is where it would go, if moved with device velocity, etc.

brain(robot)

draw(canvas)

drawDevices(canvas)

drawRay(dtype, x1, y1, x2, y2, color)

getIndex(dtype, i)

getPose()

Returns global coordinates.

localize(x=0, y=0, th=0)

move(vx, va)

reset()

rotate(va)

say(text)

serialize(item='all')

setAngle(a)

setPose(x, y, a=None)

step(timeslice=100)

Move the robot self.velocity amount, if not blocked.

translate(vx)

updateDevices()

updatePosition(x, y, a=None)

updateTrail()

class jyro.simulator.robot.Scribbler(name, x, y, a, color='red')

Bases: jyro.simulator.robot.Robot

drawRobot(canvas)

jyro.simulator.simulator module

A Pure Python 2D Robot Simulator

3. 2017 Calysto Developers. Licensed under the GNU GPL.

class jyro.simulator.simulator.Box(ul, lr, outline='black', fill='white')

Bases: jyro.simulator.simulator.Shape

>>> box = Box((0, 10), (5, 0))
>>> box.max_min()
((5, 10), (0, 0))

draw(canvas)

max_min()

class jyro.simulator.simulator.Light(x, y, brightness, color)

Bases: object

A light source.

Parameters:

• x (float) – x coordinate
• y (float) – y coordinate
• brightness (float) – illumination, typically 1.0
• color (Color) – an instance of the Color class that defines an RGB value

Example

>>> lgt = Light(3, 2, 1.0, Color(100,100,100))
>>> lgt.reset()

draw(canvas)

reset()

class jyro.simulator.simulator.Line(p1, p2, outline='black', fill='white')

Bases: jyro.simulator.simulator.Shape

draw(canvas)

max_min()

class jyro.simulator.simulator.Oval(p1, p2, outline='black', fill='white')

Bases: jyro.simulator.simulator.Shape

draw(canvas)

max_min()

class jyro.simulator.simulator.Physics

Bases: object

>>> physics = Physics()

addBox(ulx, uly, lrx, lry, fill='purple', wallcolor=None)

addLight(x, y, brightness, color='yellow')

addRobot(r, port=None)

addShape(shape)

addWall(x1, y1, x2, y2, color='black')

castRay(robot, x1, y1, a, maxRange=1000.0, ignoreRobot=['self'], rayType='range')

draw(canvas, scale=None, ignore=[], trace=False)

ignore can be a list of any of [“shapes”, “robots”, “lights”]

mainloop()

reset()

resetPath(pos)

resetPaths()

step(run_brain=True)

Advance the world by timeslice milliseconds.

update_idletasks()

class jyro.simulator.simulator.Polygon(points, outline='black', fill='white')

Bases: jyro.simulator.simulator.Shape

draw(canvas)

max_min()

class jyro.simulator.simulator.Segment(start, end, id=None, type=None)

Bases: object

Represent a line segment.

>>> segment = Segment((0,0), (0,10), 42, "wall")
>>> segment.length()
10.0

angle()

in_bbox(point)

intersection(other)

intersects(other)

length()

on_line(point)

parallel(other)

class jyro.simulator.simulator.SequenceViewer(title, function, length, play_rate=0.5)

Bases: ipywidgets.widgets.widget_box.VBox

goto(position)

initialize()

make_controls()

toggle_play(button)

update_slider_control(change)

class jyro.simulator.simulator.Shape

Bases: object

class jyro.simulator.simulator.Simulator(robot=None, worldf=None, size=None, gamepad=False, trace=False)

Bases: object

>>> from jyro.simulator import (Pioneer, Simulator, Camera,
...                             PioneerFrontSonars, Gripper,
...                             PioneerFrontLightSensors)
>>> def worldf(sim):
...     sim.addBox(0, 0, 10, 10, fill="white", wallcolor="grey") # meters
...     sim.addBox(1, 1, 2, 2, "purple")
...     sim.addBox(7, 7, 8, 8, "purple")
...     ## brightness of 1 is radius 1 meter
...     sim.addLight(7, 7, 4.25, color=Color(255, 255, 0, 64))

>>> robot = Pioneer("Pioneer", 5.00, 5.00, math.pi / 2) # meters, radians
>>> robot.addDevice(PioneerFrontSonars(maxRange=4.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Gripper()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(PioneerFrontLightSensors(maxRange=1.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Camera()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.brain = lambda self: self.move(1, 1)

>>> sim = Simulator(robot, worldf)
>>> for i in range(10):
...     sim.step()
...     sim.canvas.save("canvas%d.svg" % i)

create_widgets(gamepad=False)

display()

Provide a representation of the simulation.

get_image()

get_image_uri()

image_to_uri(img_src)

makeCanvas()

>>> def worldf(physics):
...     physics.addBox(0, 5, 10, 0)
>>> sim = Simulator(worldf=worldf)
>>> sim.makeCanvas()                  
<jyro.simulator.canvas.Canvas object at ...>

movie(poses, function, movie_name=None, start=0, stop=None, step=1, loop=0, optimize=True, duration=100, embed=False, mp4=True)

Make a movie from a list of poses and a function.

function(simulator, index) and returns a displayable.

>>> from jyro.simulator import (Pioneer, Simulator, Camera,
...                             PioneerFrontSonars, Gripper,
...                             PioneerFrontLightSensors)
>>> def worldf(sim):
...     sim.addBox(0, 0, 10, 10, fill="white", wallcolor="grey") # meters
...     sim.addBox(1, 1, 2, 2, "purple")
...     sim.addBox(7, 7, 8, 8, "purple")
...     ## brightness of 1 is radius 1 meter
...     sim.addLight(7, 7, 4.25, color=Color(255, 255, 0, 64))

>>> robot = Pioneer("Pioneer", 5.00, 5.00, math.pi / 2) # meters, radians
>>> robot.addDevice(PioneerFrontSonars(maxRange=4.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Gripper()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(PioneerFrontLightSensors(maxRange=1.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Camera()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.brain = lambda self: self.move(1, 1)
>>> sim = Simulator(robot, worldf)

>>> from IPython.display import SVG
>>> def function(simulator, index):
...     cam_image = simulator.get_image()
...     return simulator.canvas.render("pil")
>>> sim.movie([(0,0,0), (0,1,0)], function, movie_name="/tmp/movie.gif", mp4=False)
<IPython.core.display.Image object>

playback(poses, function, play_rate=0.0)

Playback a list of poses.

function(simulator) and returns displayable(s).

>>> from jyro.simulator import (Pioneer, Simulator, Camera,
...                             PioneerFrontSonars, Gripper,
...                             PioneerFrontLightSensors)
>>> def worldf(sim):
...     sim.addBox(0, 0, 10, 10, fill="white", wallcolor="grey") # meters
...     sim.addBox(1, 1, 2, 2, "purple")
...     sim.addBox(7, 7, 8, 8, "purple")
...     ## brightness of 1 is radius 1 meter
...     sim.addLight(7, 7, 4.25, color=Color(255, 255, 0, 64))

>>> robot = Pioneer("Pioneer", 5.00, 5.00, math.pi / 2) # meters, radians
>>> robot.addDevice(PioneerFrontSonars(maxRange=4.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Gripper()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(PioneerFrontLightSensors(maxRange=1.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Camera()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.brain = lambda self: self.move(1, 1)
>>> sim = Simulator(robot, worldf)

>>> from IPython.display import SVG
>>> def function(simulator, index):
...     cam_image = simulator.get_image()
...     return (simulator.canvas.render("pil"),
...             cam_image.resize((cam_image.size[0] * 4,
...                               cam_image.size[1] * 4)))
>>> sv = sim.playback([(0,0,0), (0,1,0)], function)

render(canvas=None)

reset()

save(filename)

step(step_seconds=None, run_brain=False)

update()

update_gui(data=None, set_angle=True)

class jyro.simulator.simulator.VSimulator(robot=None, worldf=None, size=None, gamepad=False, trace=False)

Bases: jyro.simulator.simulator.Simulator

>>> from jyro.simulator import (Pioneer, Simulator, Camera,
...                             PioneerFrontSonars, Gripper,
...                             PioneerFrontLightSensors)
>>> def worldf(sim):
...     sim.addBox(0, 0, 10, 10, fill="white", wallcolor="grey") # meters
...     sim.addBox(1, 1, 2, 2, "purple")
...     sim.addBox(7, 7, 8, 8, "purple")
...     ## brightness of 1 is radius 1 meter
...     sim.addLight(7, 7, 4.25, color=Color(255, 255, 0, 64))

>>> robot = Pioneer("Pioneer", 5.00, 5.00, math.pi / 2) # meters, radians
>>> robot.addDevice(PioneerFrontSonars(maxRange=4.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Gripper()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(PioneerFrontLightSensors(maxRange=1.0)) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.addDevice(Camera()) 
<jyro.simulator.robot.Pioneer object at ...>
>>> robot.brain = lambda self: self.move(1, 1)

>>> sim = VSimulator(robot, worldf)   
VBox(...)
>>> for i in range(10):
...     sim.step()
...     sim.canvas.save("canvas%d.svg" % i)

create_widgets(gamepad=False)

display()

Provide a representation of the simulation.

render(canvas=None)

set_a(data)

set_trace(data)

set_x(data)

set_y(data)

step(data={'new': 1}, run_brain=True)

update_gui(data=None, set_angle=True)

jyro.simulator.simulator.gif2mp4(filename)

Convert an animated gif into a mp4, to show with controls.

jyro.simulator.simulator.normRad(x)

Compute angle in range radians(-180) to radians(180)

>>> "%.2f" % normRad(90)
'2.04'
>>> "%.2f" % normRad(-90)
'-2.04'

jyro.simulator.simulator.sgn(v)

Return the sign of v.

>>> sgn(13)
1
>>> sgn(-2)
-1

jyro.simulator.vsimulator module

Module contents