robosim.constants
constants.py - constant globals used throughout this project Import level: 1. Should not import anything from robosim.
1""" 2constants.py - constant globals used throughout this project 3Import level: 1. Should not import anything from robosim. 4""" 5from pathlib import Path 6import os 7import raylib as rl 8 9CONFIGS_PATH = Path(__file__).parents[1] / "configs" 10 11FPV_WIDTH = 400 12FPV_HEIGHT = 400 13SCREEN_WIDTH = 800 14SCREEN_HEIGHT = 800 15DEFAULT_BACKGROUND = rl.RAYWHITE 16SOCKET_TIMEOUT_S = int(os.getenv("SOCKET_TIMEOUT_S", "1000")) # big number so we can breakpoint w/o timeouts. 17CONNECT_CMD = "connect" 18 19HZ = 60 20DT = 1 / HZ 21EPS = 1e-6 22 23MAX_SUBTICKS_PER_RENDER_TICK = 3 # used in clock to avoid spiral of death thingy 24TICK_STATS_LEN = 600 # used in the simulator singleton to create a window for the effective physics and render durations 25N_DOF = 6 # all the robots in this simulator operate at vectors of 6 degrees of freedom. In some cases (N<6), values==0 26# motion stuff 27LVL2_MAX_ACCELERATIONS = (3, 3, 3, 3, 3, 3) # [m/s^2] 28LVL2_DRAG_COEFF = 1 # [m/s^2] snappy drag coefficient: so it goes to 0 quite fast 29# lvl2: max velocity (terminal) = MAX_ACCELERATIONS / DRAG_COEFF. For 0.5/5 => 0.1 max velocity! 30LVL1_MAX_VELOCITIES = (4.2, 4.2, 4.2, 1.8, 1.8, 1.8) # [m/s, rad/s]
CONFIGS_PATH =
PosixPath('/builds/video-representations-extractor/robosim/configs')
FPV_WIDTH =
400
FPV_HEIGHT =
400
SCREEN_WIDTH =
800
SCREEN_HEIGHT =
800
DEFAULT_BACKGROUND =
(245, 245, 245, 255)
SOCKET_TIMEOUT_S =
1000
CONNECT_CMD =
'connect'
HZ =
60
DT =
0.016666666666666666
EPS =
1e-06
MAX_SUBTICKS_PER_RENDER_TICK =
3
TICK_STATS_LEN =
600
N_DOF =
6
LVL2_MAX_ACCELERATIONS =
(3, 3, 3, 3, 3, 3)
LVL2_DRAG_COEFF =
1
LVL1_MAX_VELOCITIES =
(4.2, 4.2, 4.2, 1.8, 1.8, 1.8)