Change Rotation Attribute to Orientation for Sensor and Module (#548)

Author: oliverweissl

ci_group/revolve2/ci_group/morphological_measures.py

@@ -133,7 +133,7 @@ def __init__(self, body: Body) -> None:
     @classmethod
     def __calculate_is_2d_recur(cls, module: Module) -> bool:
         return all(
-            [np.isclose(module.rotation, 0.0)]
+            [np.isclose(module.orientation.angle, 0.0)]
             + [cls.__calculate_is_2d_recur(child) for child in module.children.values()]
         )
 

ci_group/revolve2/ci_group/planar_robot_representation.py

@@ -107,7 +107,7 @@ def _draw_module(
             context.set_source_rgb(255, 255, 0)  # Yellow
         case ActiveHinge():
             context.set_source_rgb(1, 0, 0)  # Red
-            if module.rotation == 0:
+            if np.isclose(module.orientation.angle, 0.0):
                 context.set_source_rgb(1.0, 0.4, 0.4)  # Flesh Color
         case Brick():
             context.set_source_rgb(0, 0, 1)  # Blue

modular_robot/revolve2/modular_robot/body/_module.py

@@ -2,9 +2,10 @@
 
 import uuid
 
+from pyrr import Quaternion
+
 from ._attachment_point import AttachmentPoint
 from ._color import Color
-from ._right_angles import RightAngles
 from .sensors import ActiveHingeSensor, CameraSensor, IMUSensor, Sensor
 
 
@@ -99,7 +100,7 @@ class Module:
 
     _attachment_points: dict[int, AttachmentPoint]
     _children: dict[int, Module]
-    _rotation: float
+    _orientation: Quaternion
 
     _parent: Module | None
     """
@@ -120,15 +121,15 @@ class Module:
 
     def __init__(
         self,
-        rotation: float | RightAngles,
+        orientation: Quaternion,
         color: Color,
         attachment_points: dict[int, AttachmentPoint],
         sensors: list[Sensor],
     ) -> None:
         """
         Initialize this object.
 
-        :param rotation: Orientation of this model relative to its parent.
+        :param orientation: Orientation of this model relative to its parent.
         :param color: The color of the module.
         :param attachment_points: The attachment points available on a module.
         :param sensors: The sensors associated with the module.
@@ -144,9 +145,7 @@ def __init__(
         for sensor in sensors:  # Add all desired sensors to the module.
             self._sensors.add_sensor(sensor)
         self._attachment_points = attachment_points
-        self._rotation = (
-            rotation if isinstance(rotation, (float, int)) else rotation.value
-        )
+        self._orientation = orientation
         self._color = color
 
     @property
@@ -159,13 +158,13 @@ def uuid(self) -> uuid.UUID:
         return self._uuid
 
     @property
-    def rotation(self) -> float:
+    def orientation(self) -> Quaternion:
         """
         Get the orientation of this model relative to its parent.
 
         :returns: The orientation.
         """
-        return self._rotation
+        return self._orientation
 
     @property
     def parent(self) -> Module | None:

modular_robot/revolve2/modular_robot/body/base/_active_hinge.py

@@ -102,9 +102,16 @@ def __init__(
                 orientation=Quaternion.from_eulers([0.0, 0.0, 0.0]),
             ),
         }
-
+        """
+        The base module only has orientation as its parameter since not all modules are square.
+        
+        Here we covert the angle of the module to its orientation in space.
+        """
+        orientation = Quaternion.from_eulers(
+            [rotation if isinstance(rotation, float) else rotation.value, 0, 0]
+        )
         super().__init__(
-            rotation, Color(255, 255, 255, 255), attachment_points, sensors
+            orientation, Color(255, 255, 255, 255), attachment_points, sensors
         )
 
         self._sensor = None

modular_robot/revolve2/modular_robot/body/base/_attachment_face.py

@@ -1,3 +1,5 @@
+from pyrr import Quaternion
+
 from .._attachment_point import AttachmentPoint
 from .._color import Color
 from .._module import Module
@@ -22,8 +24,16 @@ def __init__(
         :param rotation: Orientation of this model relative to its parent.
         :param attachment_points: The attachment points available on a module.
         """
+        """
+        The base module only has orientation as its parameter since not all modules are square.
+
+        Here we covert the angle of the module to its orientation in space.
+        """
+        orientation = Quaternion.from_eulers(
+            [rotation if isinstance(rotation, float) else rotation.value, 0, 0]
+        )
         super().__init__(
-            rotation=rotation,
+            orientation=orientation,
             attachment_points=attachment_points,
             color=Color(255, 255, 255, 255),
             sensors=[],

modular_robot/revolve2/modular_robot/body/base/_body.py

@@ -44,9 +44,9 @@ def grid_position(cls, module: Module) -> Vector3:
         while parent is not None and child_index is not None:
             child = parent.children.get(child_index)
             assert child is not None
-            assert np.isclose(child.rotation % (math.pi / 2.0), 0.0)
+            assert np.isclose(child.orientation.angle % (math.pi / 2.0), 0.0)
 
-            position = Quaternion.from_eulers((child.rotation, 0.0, 0.0)) * position
+            position = child.orientation * position
             position += Vector3([1, 0, 0])
 
             attachment_point = parent.attachment_points.get(child_index)
@@ -143,11 +143,9 @@ def _make_grid_recur(
         for child_index, attachment_point in module.attachment_points.items():
             child = module.children.get(child_index)
             if child is not None:
-                assert np.isclose(child.rotation % (math.pi / 2.0), 0.0)
+                assert np.isclose(child.orientation.angle % (math.pi / 2.0), 0.0)
                 rotation = (
-                    orientation
-                    * attachment_point.orientation
-                    * Quaternion.from_eulers([child.rotation, 0, 0])
+                    orientation * attachment_point.orientation * child.orientation
                 )
                 self._make_grid_recur(
                     child, position + rotation * Vector3([1.0, 0.0, 0.0]), rotation

modular_robot/revolve2/modular_robot/body/base/_brick.py

@@ -52,7 +52,18 @@ def __init__(
         }
         self._mass = mass
         self._bounding_box = bounding_box
-        super().__init__(rotation, Color(50, 50, 255, 255), attachment_points, sensors)
+
+        """
+        The base module only has orientation as its parameter since not all modules are square.
+
+        Here we covert the angle of the module to its orientation in space.
+        """
+        orientation = Quaternion.from_eulers(
+            [rotation if isinstance(rotation, float) else rotation.value, 0, 0]
+        )
+        super().__init__(
+            orientation, Color(50, 50, 255, 255), attachment_points, sensors
+        )
 
     @property
     def front(self) -> Module | None:

modular_robot/revolve2/modular_robot/body/base/_core.py

@@ -59,9 +59,17 @@ def __init__(
             ),
         }
 
-        super().__init__(rotation, Color(255, 50, 50, 255), attachment_points, sensors)
-        self._parent = None
-        self._parent_child_index = None
+        """
+        The base module only has orientation as its parameter since not all modules are square.
+
+        Here we covert the angle of the module to its orientation in space.
+        """
+        orientation = Quaternion.from_eulers(
+            [rotation if isinstance(rotation, float) else rotation.value, 0, 0]
+        )
+        super().__init__(
+            orientation, Color(255, 50, 50, 255), attachment_points, sensors
+        )
 
     @property
     def mass(self) -> float:

modular_robot/revolve2/modular_robot/body/sensors/_active_hinge_sensor.py

@@ -1,15 +1,11 @@
-from pyrr import Vector3
+from pyrr import Quaternion, Vector3
 
 from ._sensor import Sensor
 
 
 class ActiveHingeSensor(Sensor):
     """A sensors for an active hinge that measures its angle."""
 
-    def __init__(self, rotation: float = 0.0) -> None:
-        """
-        Initialize the ActiveHinge sensor.
-
-        :param rotation: The rotation of the IMU.
-        """
-        super().__init__(rotation, Vector3([0, 0, 0]))
+    def __init__(self) -> None:
+        """Initialize the ActiveHinge sensor."""
+        super().__init__(Quaternion(), Vector3())

modular_robot/revolve2/modular_robot/body/sensors/_camera_sensor.py

@@ -1,4 +1,4 @@
-from pyrr import Vector3
+from pyrr import Quaternion, Vector3
 
 from ._sensor import Sensor
 
@@ -11,7 +11,7 @@ class CameraSensor(Sensor):
     def __init__(
         self,
         position: Vector3,
-        rotation: float = 0.0,
+        orientation: Quaternion = Quaternion(),
         camera_size: tuple[int, int] = (50, 50),
     ) -> None:
         """
@@ -21,21 +21,12 @@ def __init__(
         For evolution related work stick to 10x10 for fast results.
 
         :param position: The position of the camera.
-        :param rotation: The rotation of the camera.
+        :param orientation: The rotation of the camera.
         :param camera_size: The size of the camera image.
         """
-        super().__init__(rotation, position)
+        super().__init__(orientation, position)
         self._camera_size = camera_size
 
-    @property
-    def position(self) -> Vector3:
-        """
-        Get the position of the camera.
-
-        :return: The position.
-        """
-        return self._position
-
     @property
     def camera_size(self) -> tuple[int, int]:
         """

modular_robot/revolve2/modular_robot/body/sensors/_imu_sensor.py

@@ -1,4 +1,4 @@
-from pyrr import Vector3
+from pyrr import Quaternion, Vector3
 
 from ._sensor import Sensor
 
@@ -10,11 +10,13 @@ class IMUSensor(Sensor):
     Reports specific force(closely related to acceleration), angular rate(closely related to angular velocity), and orientation.
     """
 
-    def __init__(self, position: Vector3, rotation: float = 0.0) -> None:
+    def __init__(
+        self, position: Vector3, orientation: Quaternion = Quaternion()
+    ) -> None:
         """
         Initialize the IMU sensor.
 
-        :param rotation: The rotation of the IMU.
+        :param orientation: The rotation of the IMU.
         :param position: The position of the IMU.
         """
-        super().__init__(rotation, position)
+        super().__init__(orientation, position)

modular_robot/revolve2/modular_robot/body/sensors/_sensor.py

@@ -1,24 +1,24 @@
 import uuid
 from abc import ABC
 
-from pyrr import Vector3
+from pyrr import Quaternion, Vector3
 
 
 class Sensor(ABC):
     """An abstract Sensor Class."""
 
     _uuid: uuid.UUID
-    _rotation: float
+    _orientation: Quaternion
     _position: Vector3
 
-    def __init__(self, rotation: float, position: Vector3) -> None:
+    def __init__(self, orientation: Quaternion, position: Vector3) -> None:
         """
         Initialize the sensor.
 
-        :param rotation: The rotation of the sensor.
+        :param orientation: The rotation of the sensor.
         :param position: The position of the sensor.
         """
-        self._rotation = rotation
+        self._orientation = orientation
         self._uuid = uuid.uuid1()
         self._position = position
 
@@ -32,13 +32,13 @@ def uuid(self) -> uuid.UUID:
         return self._uuid
 
     @property
-    def rotation(self) -> float:
+    def orientation(self) -> Quaternion:
         """
-        Return the rotation of the sensor.
+        Return the orientation of the sensor.
 
-        :return: The rotation.
+        :return: The orientation.
         """
-        return self._rotation
+        return self._orientation
 
     @property
     def position(self) -> Vector3:

modular_robot_simulation/revolve2/modular_robot_simulation/_build_multi_body_systems/_unbuilt_child.py

@@ -24,8 +24,7 @@ def make_pose(
         :param position: The position argument from the parent.
         :param orientation: The orientation of the attachment on the parent.
         """
-        module_rot = Quaternion.from_eulers([self.child_object.rotation, 0.0, 0.0])
         self.pose = Pose(
             position,
-            orientation * module_rot,
+            orientation * self.child_object.orientation,
         )