Merge pull request #84 from gaorkl/feat/cleanup

All tests passing

.github/workflows/python-app.yml

@@ -34,7 +34,6 @@ jobs:
         sudo apt-get install xvfb
         sudo apt-get install freeglut3-dev
         pip install flake8 pytest pytest-cov
-        pip install -r requirements.txt
         pip install -e .
     - name: Lint with flake8
       run: |

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2021 mgarciaortiz
+Copyright (c) 2021 Michael Garcia Ortiz
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

MANIFEST.in

@@ -1,7 +1,6 @@
-# Include requirements:
-include requirements.txt
+# Include Assets:
+recursive-include src/spg *.txt *.md *.url *.png *.jpg *.jpeg
 
-# Include configs:
-recursive-include src/spg/resources *.txt *.md *.url *.png *.jpg *.jpeg
-recursive-include src/spg/agent/sensor/shaders *.glsl
+# Include Shaders:
+recursive-include src/spg *.glsl
 

setup.cfg

@@ -26,3 +26,7 @@ disable=missing-docstring,
 # system, and so shouldn't trigger E1101 when accessed. Python regular
 # expressions are accepted.
 generated-members=numpy.*,torch.*
+env =
+    TESTING=1
+    log_cli = 1
+    log_cli_level = INFO

setup.py

@@ -2,8 +2,34 @@
 
 from setuptools import find_packages, setup
 
-with open("requirements.txt", "r") as f:
-    requirements = f.read().splitlines()
+install_requires = [
+    "numpy",
+    "pyyaml",
+    "pymunk>=6.0.0",
+    "scikit-image",
+    "pillow",
+    "pytest",
+    "matplotlib",
+    "arcade",
+    "tqdm",
+    "gymnasium",
+]
+
+test_requires = [
+    "flake8",
+    "pytest",
+    "pytest-cov",
+    "pytest-env",
+    "pytest-sugar",
+    "pylint",
+]
+
+
+dev_requires = [
+    "pre-commit",
+    "ipdb",
+]
+
 
 # read the contents of the README file
 
@@ -21,7 +47,11 @@
     packages=find_packages(where="."),
     package_dir={"": "."},
     include_package_data=True,
-    install_requires=requirements,
+    install_requires=install_requires,
+    extras_require={
+        "test": test_requires,
+        "dev": dev_requires,
+    },
     long_description=long_description,
     long_description_content_type="text/markdown",
 )

spg/components/agents/attached.py

@@ -0,0 +1,97 @@
+import math
+
+import pymunk
+from gymnasium import spaces
+
+from spg.components.agents.constants import ANGULAR_VELOCITY, ARM_MASS, HEAD_MASS
+from spg.core.entity import Entity
+from spg.core.entity.body import AttachedDynamicMixin
+from spg.core.entity.interaction.action import ActionMixin
+
+
+class AttachedPart(Entity, AttachedDynamicMixin, ActionMixin):
+    def __init__(self, rotation_range=math.pi / 3, **kwargs):
+        self.rotation_range = rotation_range
+        super().__init__(**kwargs)
+
+    def _get_joint(self):
+        joint = pymunk.PivotJoint(
+            self.anchor.pm_body,
+            self.pm_body,
+            self.anchor.attachment_points[self][0],
+            self.attachment_point,
+        )
+        joint.collide_bodies = False
+        return joint
+
+    def _get_limit(self):
+
+        relative_angle = self.pm_body.angle - self.anchor.pm_body.angle
+
+        limit = pymunk.RotaryLimitJoint(
+            self.anchor.pm_body,
+            self.pm_body,
+            relative_angle - self.rotation_range / 2,
+            relative_angle + self.rotation_range / 2,
+        )
+        limit.collide_bodies = False
+        return limit
+
+    def _get_motor(self):
+        motor = pymunk.SimpleMotor(self.anchor.pm_body, self.pm_body, 0)
+        motor.max_force = 5
+        motor.collide_bodies = False
+        return motor
+
+    @property
+    def _action_space(self):
+        return spaces.Box(-1, 1, shape=(1,))
+
+    def apply_action(self, action):
+        self.motor.rate = action * ANGULAR_VELOCITY
+
+
+class Arm(AttachedPart):
+    def __init__(
+        self,
+        mass=ARM_MASS,
+        rotation_range=math.pi / 4,
+        filename=":spg:agent/arm.png",
+        sprite_front_is_up=True,
+        **kwargs
+    ):
+
+        super().__init__(
+            mass=mass,
+            rotation_range=rotation_range,
+            sprite_front_is_up=sprite_front_is_up,
+            filename=filename,
+            **kwargs,
+        )
+
+    @property
+    def attachment_point(self):
+        return -self.radius, 0.0
+
+
+class Head(AttachedPart):
+    def __init__(
+        self,
+        mass=HEAD_MASS,
+        filename=":spg:agent/head.png",
+        sprite_front_is_up=True,
+        rotation_range=math.pi / 2,
+        **kwargs
+    ):
+
+        super().__init__(
+            mass=mass,
+            rotation_range=rotation_range,
+            sprite_front_is_up=sprite_front_is_up,
+            filename=filename,
+            **kwargs,
+        )
+
+    @property
+    def attachment_point(self):
+        return 0, 0

spg/components/agents/base.py

@@ -0,0 +1,85 @@
+from abc import ABC
+
+import pymunk
+from gymnasium import spaces
+
+from spg.core.entity import Agent
+from spg.core.entity.body import BaseDynamicMixin, BaseStaticMixin
+
+from .constants import ANGULAR_VELOCITY, BASE_MASS, LINEAR_FORCE
+
+
+class DynamicAgent(Agent, BaseDynamicMixin, ABC):
+    def __init__(self, **kwargs):
+        super().__init__(
+            sprite_front_is_up=True,
+            filename=":spg:agent/base.png",
+            shape_approximation="decomposition",
+            mass=BASE_MASS,
+            **kwargs,
+        )
+
+
+class HolonomicAgent(DynamicAgent, ABC):
+    def _apply_action(self, action):
+
+        forward_force, lateral_force, angular_velocity = action
+
+        self.pm_body.apply_force_at_local_point(
+            pymunk.Vec2d(forward_force, lateral_force) * LINEAR_FORCE, (0, 0)
+        )
+
+        self.pm_body.angular_velocity = angular_velocity * ANGULAR_VELOCITY
+
+
+class HolonomicContinuousAgent(HolonomicAgent, ABC):
+    @property
+    def _action_space(self):
+        return spaces.Box(low=-1, high=1, shape=(3,))
+
+
+class HolonomicDiscreteAgent(HolonomicAgent, ABC):
+    @property
+    def _action_space(self):
+        return spaces.MultiDiscrete([3, 3, 3], start=[-1, -1, -1])
+
+
+class ForwardAgent(DynamicAgent, ABC):
+    def _apply_action(self, action):
+
+        forward_force, angular_velocity = action
+
+        self.pm_body.apply_force_at_local_point(
+            pymunk.Vec2d(forward_force, 0) * LINEAR_FORCE, (0, 0)
+        )
+
+        self.pm_body.angular_velocity = angular_velocity * ANGULAR_VELOCITY
+
+
+class ForwardContinuousAgent(ForwardAgent, ABC):
+    @property
+    def _action_space(self):
+        return spaces.Box(low=-1, high=1, shape=(2,))
+
+
+class ForwardDiscreteAgent(ForwardAgent, ABC):
+    @property
+    def _action_space(self):
+        return spaces.MultiDiscrete([3, 3], start=[-1, -1])
+
+
+class StaticAgent(Agent, BaseStaticMixin, ABC):
+    def __init__(self, **kwargs):
+        super().__init__(
+            sprite_front_is_up=True,
+            filename=":spg:agent/base.png",
+            shape_approximation="decomposition",
+            **kwargs,
+        )
+
+    @property
+    def _action_space(self):
+        return None
+
+    def _apply_action(self, action):
+        pass

spg/components/agents/head_agent.py → spg/components/agents/constants.py

@@ -5,3 +5,7 @@
 
 
 DEFAULT_INTERACTION_RANGE = 5
+
+BASE_MASS = 10
+ARM_MASS = 5
+HEAD_MASS = 5

spg/components/agents/interaction.py

@@ -0,0 +1,57 @@
+from gymnasium import spaces
+
+from spg.core.entity import Entity
+from spg.core.entity.body import AttachedStaticMixin
+from spg.core.entity.interaction.activable import ActivableMixin
+from spg.core.entity.interaction.grasper import GrasperHold
+from spg.core.entity.sprite import get_texture_from_geometry
+
+
+class Trigger(Entity, ActivableMixin, AttachedStaticMixin):
+    def __init__(self, **kwargs):
+
+        texture, _ = get_texture_from_geometry(
+            geometry="circle", radius=20, color=(255, 0, 0)
+        )
+
+        super().__init__(ghost=True, texture=texture, **kwargs)
+
+        self.triggered = False
+
+    def activate(self, entity, **kwargs):
+        self.activated = True
+
+    def pre_step(self):
+        self.triggered = False
+        super().pre_step()
+
+    @property
+    def attachment_point(self):
+        return 0, 0
+
+    @property
+    def action_space(self):
+        return spaces.Discrete(2)
+
+    def apply_action(self, action):
+        self.triggered = bool(action)
+
+
+class GrasperHand(Entity, AttachedStaticMixin, GrasperHold):
+    def __init__(self, grasper_radius, **kwargs):
+
+        texture, _ = get_texture_from_geometry(
+            geometry="circle", radius=grasper_radius, color=(255, 0, 0)
+        )
+
+        super().__init__(
+            texture=texture,
+            ghost=True,
+            **kwargs,
+        )
+
+        GrasperHold.__init__(self)
+
+    @property
+    def attachment_point(self):
+        return 0, 0