Upload billiards.py

billiards.py

@@ -0,0 +1,155 @@
+import simulate as sm 
+from simulate.assets.action_mapping import ActionMapping
+import time
+
+CAMERA_HEIGHT = 40
+CAMERA_WIDTH = 64
+
+scene = sm.Scene(engine="unity")
+# scene = sm.Scene()
+scene += sm.LightSun()
+scene += sm.Box(
+    name="table_surface",
+    position=[1, 0, 1],
+    bounds=[0, 7, 0, 1, 0, 11],
+    material=sm.Material.GREEN,
+    with_collider=True,
+    with_rigid_body=True,
+    physics_component=sm.RigidBodyComponent(
+        use_gravity=True,
+        kinematic=True,
+        collision_detection="continuous"
+    ),
+)
+
+scene += sm.Box(
+        name="border_left",
+        position=[0, 0, 0],
+        bounds=[0, 1, 0, 2, 0, 13],
+        material=sm.Material.GREEN,
+        with_collider=True,
+        with_rigid_body=True,
+        physics_component=sm.RigidBodyComponent(
+            use_gravity=True,
+            kinematic=True,
+            collision_detection="continuous"
+        ),
+)
+
+scene += sm.Box(
+        name="border_right",
+        position=[7, 0, 0],
+        bounds=[0, 1, 0, 2, 0, 13],
+        material=sm.Material.GREEN,
+        with_collider=True,
+        with_rigid_body=True,
+        physics_component=sm.RigidBodyComponent(
+            use_gravity=True,
+            mass=1,
+            kinematic=True,
+            collision_detection="continuous"
+        ),
+)
+
+scene += sm.Box(
+        name="border_top",
+        position=[0, 0, 0],
+        bounds=[0, 8, 0, 2, 0, 1],
+        material=sm.Material.GREEN,
+        with_collider=True,
+        with_rigid_body=True,
+        physics_component=sm.RigidBodyComponent(
+            use_gravity=True,
+            kinematic=True,
+            collision_detection="continuous"
+        ),
+)
+
+scene += sm.Box(
+        name="border_bottom",
+        position=[0, 0, 12],
+        bounds=[0, 8, 0, 2, 0, 1],
+        material=sm.Material.GREEN,
+        with_collider=True,
+        with_rigid_body=True,
+        physics_component=sm.RigidBodyComponent(
+            use_gravity=True,
+            kinematic=True,
+            collision_detection="continuous"
+        ),
+)
+
+cue_ball = sm.Sphere(
+    name="cue_ball",
+    position=[4, 1.2, 9],
+    radius=0.2,
+    material=sm.Material.WHITE,
+    with_collider=True,
+    with_rigid_body=True,
+    physics_component=sm.RigidBodyComponent(
+        use_gravity=True,
+        constraints=["freeze_position_y"],
+        mass=1,
+        collision_detection="continuous"
+    ),
+)
+
+
+cue_ball.is_actor = True 
+
+mapping = [
+    ActionMapping("add_force", axis=[0, 0, -1], is_impulse=True),
+]
+
+cue_ball.actuator = sm.Actuator(
+    mapping=mapping,
+    high=[10],
+    low=[-10],
+    shape=(1,)
+)
+
+cue_ball += sm.StateSensor(target_entity=cue_ball, properties=["position"])
+
+scene += cue_ball
+
+target_ball = sm.Sphere(
+    name="target_ball",
+    position=[4, 1.2, 6],
+    radius=0.2,
+    material=sm.Material.RED,
+    with_collider=True,
+    with_rigid_body=True,
+    physics_component=sm.RigidBodyComponent(
+        use_gravity=True,
+        constraints=["freeze_position_y"],
+        mass=0.5,
+        collision_detection="continuous"
+    ),
+)
+
+scene += target_ball
+
+scene += sm.Camera(name="camera", position=[0,0,0], rotation=[35, 0, 0])
+
+scene.show()
+
+# # uncomment here
+env = sm.RLEnv(scene)
+env.reset()
+
+for i in range(500):
+    action = scene.action_space.sample()
+    
+    print("###############################")
+    obs, reward, done, info = env.step(action)
+    print("###############################")
+    print(action)
+    print(f"Ball position {obs.get('StateSensor')}")
+    print(f"step {i}, reward {reward[0]}, observation")
+    time.sleep(0.1)
+
+env.close()
+
+
+
+# input("Press enter to continue...")