Johnny Fernandes
79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
"""World geometry and robot specs.
|
|
|
|
Coordinates are metres; (0, 0) is the field centre, +x east, +y north.
|
|
These constants mirror ``worlds/field.wbt`` and the proto files — if
|
|
the world changes, this file is the single point of update.
|
|
|
|
field +y north
|
|
+-----------+
|
|
| |
|
|
| |
|
|
| ...... |
|
|
+---||||----+ y = -15 (south wall, 3 m gate at x ∈ [10, 13])
|
|
||||
|
|
|pen| y ∈ [-22, -15]
|
|
+---+
|
|
"""
|
|
|
|
import math
|
|
|
|
# Field (square, stone-walled)
|
|
FIELD_X = (-15.0, 15.0)
|
|
FIELD_Y = (-15.0, 15.0)
|
|
FIELD_INSIDE_MARGIN = 0.5
|
|
|
|
# Pen (external, south of the field)
|
|
PEN_X = (10.0, 13.0)
|
|
PEN_Y = (-22.0, -15.0)
|
|
PEN_CENTER = (0.5 * (PEN_X[0] + PEN_X[1]), 0.5 * (PEN_Y[0] + PEN_Y[1]))
|
|
PEN_ENTRY = (0.5 * (PEN_X[0] + PEN_X[1]), -15.0)
|
|
|
|
# Gate (hole in the south wall)
|
|
GATE_X = PEN_X
|
|
GATE_Y = -15.0
|
|
|
|
# Dog spec — protos/ShepherdDog.proto
|
|
DOG_WHEEL_RADIUS = 0.038 # m
|
|
DOG_WHEEL_BASE = 0.28 # m, axle-to-axle
|
|
DOG_MAX_WHEEL_OMEGA = 70.0 # rad/s
|
|
DOG_MAX_LINEAR = DOG_WHEEL_RADIUS * DOG_MAX_WHEEL_OMEGA # ≈ 2.66 m/s
|
|
|
|
# Sheep spec — protos/Sheep.proto
|
|
SHEEP_WHEEL_RADIUS = 0.031 # m
|
|
SHEEP_WHEEL_BASE = 0.20 # m
|
|
SHEEP_MAX_WHEEL_OMEGA = 25.0 # rad/s
|
|
SHEEP_MAX_LINEAR = SHEEP_WHEEL_RADIUS * SHEEP_MAX_WHEEL_OMEGA # ≈ 0.78 m/s
|
|
|
|
WEBOTS_DT = 0.016 # seconds (matches WorldInfo.basicTimeStep)
|
|
|
|
# Virtual south wall — env and controller both keep the dog north of this.
|
|
DOG_SOUTH_LIMIT = -14.5
|
|
|
|
MAX_SHEEP = 10
|
|
|
|
|
|
def in_pen(x: float, y: float) -> bool:
|
|
"""True if (x, y) lies inside the external pen rectangle."""
|
|
return PEN_X[0] < x < PEN_X[1] and PEN_Y[0] < y < PEN_Y[1]
|
|
|
|
|
|
def in_field(x: float, y: float, margin: float = 0.0) -> bool:
|
|
return (FIELD_X[0] + margin <= x <= FIELD_X[1] - margin
|
|
and FIELD_Y[0] + margin <= y <= FIELD_Y[1] - margin)
|
|
|
|
|
|
def in_gate_corridor(x: float, y: float, margin: float = 0.0) -> bool:
|
|
"""True if (x, y) lies in the column of the gate (between field and pen)."""
|
|
return (PEN_X[0] - margin <= x <= PEN_X[1] + margin
|
|
and PEN_Y[0] - margin <= y <= GATE_Y + margin)
|
|
|
|
|
|
def is_penned_position(x: float, y: float, latch_margin: float = 0.2) -> bool:
|
|
"""True iff (x, y) is in the gate column and south of the gate line."""
|
|
return (PEN_X[0] - latch_margin <= x <= PEN_X[1] + latch_margin
|
|
and y <= GATE_Y)
|
|
|
|
|
|
def distance_to_pen_entry(x: float, y: float) -> float:
|
|
return math.hypot(x - PEN_ENTRY[0], y - PEN_ENTRY[1])
|