def robot_to_sdf(robot, name="test_bot", plugin_controller=None):
model = builder.sdf_robot(robot=robot,
controller_plugin=plugin_controller,
update_rate=UPDATE_RATE,
name=name)
model_sdf = SDF()
model_sdf.add_element(model)
return model_sdf
def robot_to_sdf(robot, name="test_bot", plugin_controller=None):
model = builder.sdf_robot(
robot=robot,
controller_plugin=plugin_controller,
update_rate=UPDATE_RATE,
name=name)
model_sdf = SDF()
model_sdf.add_element(model)
return model_sdf
def get_analysis_robot(robot, builder):
"""
Creates an SDF model suitable for analysis from a robot object
and a builder.
:param robot:
:type robot: Robot
:param builder:
:type builder: BodyBuilder
:return:
"""
model = builder.sdf_robot(robot=robot,
controller_plugin=None,
name="analyze_bot",
analyzer_mode=True)
model.remove_elements_of_type(Sensor, recursive=True)
sdf = SDF()
sdf.add_element(model)
return sdf
def get_analysis_robot(robot, builder):
"""
Creates an SDF model suitable for analysis from a robot object
and a builder.
:param robot:
:type robot: Robot
:param builder:
:type builder: BodyBuilder
:return:
"""
model = builder.sdf_robot(
robot=robot,
controller_plugin=None,
name="analyze_bot",
analyzer_mode=True)
model.remove_elements_of_type(Sensor, recursive=True)
sdf = SDF()
sdf.add_element(model)
return sdf
def to_sdfbot(robot, name, builder, conf, battery_charge=None):
"""
:param robot:
:param name:
:param builder:
:param conf: Config
:param battery_charge:
:return:
"""
battery = None if battery_charge is None else BasicBattery(battery_charge)
brain_conf = None if not hasattr(conf, 'brain_conf') else conf.brain_conf
model = builder.sdf_robot(robot=robot,
controller_plugin="libRobotControlPlugin.so",
update_rate=conf.controller_update_rate,
name=name,
battery=battery,
brain_conf=brain_conf)
apply_surface_parameters(model, conf.world_step_size)
sdf = SDF()
sdf.add_element(model)
return sdf
async def run():
world = await World.create()
if world:
print("Connected to the simulator world.")
model = Model(
name='sdf_model',
static=True,
)
model.set_position(position=Vector3(0, 0, 1))
link = Link('sdf_link')
link.make_sphere(
mass=10e10,
radius=0.5,
)
link.make_color(0.7, 0.2, 0.0, 1.0)
model.add_element(link)
sdf_model = SDF(elements=[model])
await world.insert_model(sdf_model)
await world.pause(True)
while True:
await asyncio.sleep(10.0)
id: Wheel
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
5:
id: Wheel2
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
brain:
params:
Wheel-out-0:
type: Oscillator
period: 3
Wheel2-out-0:
type: Oscillator
period: 3
'''
bot = yaml_to_proto(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.sdf_robot(bot, "libRobotControlPlugin.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
logger.info(str(sdf))
id: Wheel
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
5:
id: Wheel2
type: Wheel
params:
red: 0.0
green: 1.0
blue: 0.0
brain:
params:
Wheel-out-0:
type: Oscillator
period: 3
Wheel2-out-0:
type: Oscillator
period: 3
'''
bot = yaml_to_proto(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.sdf_robot(bot, "libRobotControlPlugin.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
print(str(sdf))
friction=0.01,
friction2=0.01,
slip1=1.0,
slip2=1.0
)
contact = "<contact>" \
"<ode>" \
"<kd>%s</kd>" \
"<kp>%s</kp>" \
"</ode>" \
"</contact>" % (
nf(constants.SURFACE_KD), nf(constants.SURFACE_KP)
)
surf.add_element(friction)
surf.add_element(contact)
col.add_element(surf)
vis = Visual("bc_vis", mesh.copy())
self.link = Link("bc_link", elements=[col, vis])
# By default the model has 0.5 * scale * MESH_HEIGHT below
# and above the surface. Translate such that we have exactly
# the desired height instead.
self.link.translate(Vector3(0, 0, self.height - (0.5 * scaled_height)))
self.add_element(self.link)
if __name__ == '__main__':
sdf = SDF(elements=[BirthClinic()])
logger.info(sdf)