robosim.components

  1"""
  2components.py - The basic componens that the simulator supports. New custom ones can be added in server or plugins.
  3Import level: 1
  4"""
  5# pylint: disable=missing-class-docstring
  6
  7from enum import IntEnum
  8from dataclasses import field
  9from microecs import Component
 10import numpy as np
 11
 12# components (data only)
 13
 14class HasTypeAndArgs(Component):
 15    _type: np.ndarray = field(metadata={
 16        "shape": (1, ), "dtype": "object", "serializable": True,
 17        "default": None,
 18        "comment": "Part of HasTypeAndArgs. Used to construct the entity"})
 19    _args: np.ndarray = field(metadata={
 20        "shape": (1, ), "dtype": "object", "serializable": True,
 21        "default": None,
 22        "comment": "Part of HasTypeAndArgs. Used to construct the entity"})
 23
 24class HasModel(Component):
 25    model: np.ndarray = field(metadata={
 26        "shape": (1, ), "dtype": "object", "serializable": False,
 27        "default": None,
 28        "comment": "The model object (not serializable)"})
 29    scale: np.ndarray = field(metadata={
 30        "shape": (1, ), "dtype": "float32", "serializable": True,
 31        "default": None,
 32        "comment": "The scale of the model to project in world space"})
 33    model_bbox: np.ndarray = field(metadata={
 34        "shape": (2, 3), "dtype": "float32", "serializable": False,
 35        "default": np.zeros((2, 3), "float32"),
 36        "comment": "The bbox of the object dertived from the model itself"})
 37    model_radius: np.ndarray = field(metadata={
 38        "shape": (1, ), "dtype": "float32", "serializable": False,
 39        "default": np.zeros((1, ), "float32"),
 40        "comment": "The radius of the model, derived from the model itself"})
 41
 42# State/Motion-related components
 43
 44class HasPose(Component):
 45    pose: np.ndarray = field(metadata={
 46        "shape": (4, 4), "dtype": "float32", "serializable": True,
 47        "default": np.eye(4, dtype="float32"),
 48        "comment": "The pose of the entity (rotation & translation) as 4x4 homogeneous matrix"})
 49    candidate_pose: np.ndarray = field(metadata={
 50        "shape": (4, 4), "dtype": "float32", "serializable": True,
 51        "default": np.eye(4, dtype="float32"),
 52        "comment": "The future (t+1) 4x4 pose. Used for post-collision"})
 53
 54class HasVelocity6DoF(Component):
 55    velocity: np.ndarray = field(metadata={
 56        "shape": (6, ), "dtype": "float32", "serializable": True,
 57        "default": np.zeros((6, ), "float32"),
 58        "comment": "The velocity of an entity"})
 59    candidate_velocity: np.ndarray = field(metadata={
 60        "shape": (6, ), "dtype": "float32", "serializable": True,
 61        "default": np.zeros((6, ), "float32"),
 62        "comment": "The future (t+1) velocity. Used for post-collision"})
 63
 64class HasAcceleration6DoF(Component):
 65    acceleration: np.ndarray = field(metadata={
 66        "shape": (6, ), "dtype": "float32", "serializable": True,
 67        "default": np.zeros((6, ), "float32"),
 68        "comment": "The acceleration of an entity"})
 69    candidate_acceleration: np.ndarray = field(metadata={
 70        "shape": (6, ), "dtype": "float32", "serializable": True,
 71        "default": np.zeros((6, ), "float32"),
 72        "comment": "The future (t+1) acceleration. Used for post-collision"})
 73
 74# network or dynamic objects
 75
 76class HasFPV(Component):
 77    fpv_camera: np.ndarray = field(metadata={
 78        "shape": (1, ), "dtype": "object", "serializable": False,
 79        "default": None,
 80        "comment": "The FPV camera object, instantiated in the server."})
 81    fpv_data: np.ndarray = field(metadata={
 82        "shape": (1, ), "dtype": "object", "serializable": False,
 83        "default": None,
 84        "comment": "The frame currently displayed in the world in this FPV camera."})
 85    fpv_texture: np.ndarray = field(metadata={
 86        "shape": (1, ), "dtype": "object", "serializable": False,
 87        "default": None,
 88        "comment": "The texture where the fpv_data of this camera is rendered"})
 89
 90class HasChannel(Component):
 91    channel: np.ndarray = field(metadata={
 92        "shape": (1, ), "dtype": "object", "serializable": False,
 93        "default": None,
 94        "comment": ("The channel object (1 socket + 2 queues) through which external "
 95                    "servies commnunicate with an entity")})
 96
 97# physics
 98
 99class HasMotionInput(Component):
100    motion_input: np.ndarray = field(metadata={
101        "shape": (6, ), "dtype": "float32", "serializable": False,
102        "default": np.zeros((6, ), "float32"),
103        "comment": ("The motion input (to change vel/acc) of this entity. "
104                    "Usually sent from keyboard or the entity's channel (tcp)")})
105
106class HasPhysicsLevel1(Component):
107    max_velocities: np.ndarray = field(metadata={
108        "shape": (6, ), "dtype": "float32", "serializable": True,
109        "default": None,
110        "comment": "The maximum velocities in the monion_input for lvl 2"})
111
112class HasPhysicsLevel2(Component):
113    max_accelerations: np.ndarray = field(metadata={
114        "shape": (6, ), "dtype": "float32", "serializable": True,
115        "default": None,
116        "comment": "The maximum acc. in the monion_input for lvl 2"})
117    drag_coefficient: np.ndarray = field(metadata={
118        "shape": (1, ), "dtype": "float32", "serializable": True,
119        "default": None,
120        "comment": "The drag coefficient for level 2"})
121
122class ColliderKinds(IntEnum):
123    SPHERE = 1
124    AABB = 2
125
126class HasCollision(Component):
127    is_colliding: np.ndarray = field(metadata={
128        "shape": (1, ), "dtype": "bool", "serializable": False,
129        "default": np.zeros((1, ), "bool"),
130        "comment": "Whether this entity is colliding now with something"})
131    collider_kind: np.ndarray = field(metadata={
132        "shape": (1, ), "dtype": "int32", "serializable": False,
133        "default": None,
134        "comment": "The collider kind. see ColliderKinds enum for options."})
135    collider_bbox: np.ndarray = field(metadata={
136        "shape": (2, 3), "dtype": "float32", "serializable": False,
137        "default": np.zeros((2, 3), "float32"),
138        "comment": "Note: already in world space (scaled) by physics system"})
139    collider_radii: np.ndarray = field(metadata={
140        "shape": (1, ), "dtype": "float32", "serializable": False,
141        "default": np.zeros((1, ), "float32"),
142        "comment": "Note: already in world space (scaled) by physics system"})
143
144ROBOSIM_COMPONENTS = [HasModel, HasPose, HasFPV, HasChannel, HasTypeAndArgs,                          # model/object
145                      HasVelocity6DoF, HasAcceleration6DoF, HasPhysicsLevel1,                          # physics
146                        HasPhysicsLevel2, HasMotionInput,
147                      HasCollision]                                                                    # collision