Gremlin movement

[team-daniel]

Hi all,

When Gremlins are added to an environment, they all spin in the same direction, at the same time, at the same velocity. I was wondering if there was any possible way to change this so some spun quicker or at least in a different direction?

~ Thanks in advance :)

[muchvo]

Please refer to this file and reimplement these functions.

    def move(self):
        """Set mocap object positions before a physics step is executed."""
        phase = float(self.engine.data.time)
        for i in range(self.num):
            name = f'gremlin{i}'
            target = np.array([np.sin(phase), np.cos(phase)]) * self.travel
            pos = np.r_[target, [self.size]]
            self.set_mocap_pos(name + 'mocap', pos)

    def get_obj(self, xy_pos, rot):
        """To facilitate get objects config for this object"""
        body = {
            'name': self.name,
            'pos': np.r_[xy_pos, self.size],
            'rot': rot,
            'geoms': [
                {
                    'name': self.name,
                    'size': np.ones(3) * self.size,
                    'type': 'box',
                    'density': self.density,
                    'group': self.group,
                    'rgba': self.color * np.array([1, 1, 1, self.alpha]),
                },
            ],
        }
        if self.is_meshed:
            body['geoms'][0].update(
                {
                    'type': 'mesh',
                    'mesh': self.mesh_name,
                    'material': self.mesh_name,
                    'rgba': np.array([1, 1, 1, 1]),
                    'euler': [np.pi / 2, 0, 0],
                },
            )
            body['pos'][2] = 0.0
        return body

    def get_mocap(self, xy_pos, rot):
        """To facilitate get mocaps config for this object"""
        body = {
            'name': self.name,
            'pos': np.r_[xy_pos, self.size],
            'rot': rot,
            'geoms': [
                {
                    'name': self.name,
                    'size': np.ones(3) * self.size,
                    'type': 'box',
                    'group': self.group,
                    'rgba': self.color * np.array([1, 1, 1, self.alpha * 0.1]),
                },
            ],
        }
        if self.is_meshed:
            body['geoms'][0].update(
                {
                    'type': 'mesh',
                    'mesh': self.mesh_name,
                    'material': self.mesh_name,
                    'rgba': np.array([1, 1, 1, 0]),
                    'euler': [np.pi / 2, 0, 0],
                },
            )
            body['pos'][2] = 0.0
        return body