sdf = SDF()
model = Model("obstacles",static=True)
def gen_boxes(dimensions=4, spacing=0.5, size=0.05):
for x in range(-dimensions,dimensions+1):
for y in range(-dimensions,dimensions+1):
l = Link("box")
#box_geom = Box(1.0, 1.0, 1.0, mass=0.5)
#b = StructureCombination("box", box_geom)
#l.add_element(b)
if (x!=0 or y!=0):
l.make_box(1, size, size, 0.01*max(abs(x),abs(y)))
pos = Vector3(spacing*x,spacing*y,0)
l.set_position(pos)
l.rotate_around(Vector3(0, 0, 1), math.radians(x*y), relative_to_child=False)
model.add_element(l)
#adjust it up to ground plane
model.set_position(Vector3(0, 0, 0.0))
sdf.add_element(model)
gen_boxes(dimensions=4,spacing=0.15, size=0.03)
print(str(sdf))
from tol.manage import World
from sdfbuilder import SDF, Link, Model
from sdfbuilder.sensor import Sensor
conf = Config(visualize_sensors=True)
sdf = SDF()
model = Model("crash")
link = Link("my_link")
link.make_box(1.0, 1, 1, 1)
sensor = Sensor("sense", "contact")
link.add_element(sensor)
model.add_element(link)
sdf.add_element(model)
model.set_position(Vector3(0, 0, 0.5))
@trollius.coroutine
def run_server():
world = yield From(World.create(conf))
counter = 0
while True:
model.name = "test_bot_%d" % counter
print("Inserting %s..." % model.name)
fut = yield From(world.insert_model(sdf))
yield From(fut)
print("Done. Waiting...")
yield From(trollius.sleep(1.0))
print("Done. Removing...")
# the collision elements.
link.align_center_of_mass()
link.calculate_inertial()
# Rotate the link 45 degrees around the x-axis, specified in the parent frame
# just to demonstrate how that works (and to demonstrate align is still
# going to work after the rotation).
link.rotate_around(Vector3(1, 0, 0), math.radians(45), relative_to_child=False)
# Okay, not sure what this is supposed to be, but let's another wheel-like cylinder in
# a new link, and connect them with joints
wheel_geom = Cylinder(0.75, 0.1, mass=0.1)
wheel = StructureCombination("wheel", wheel_geom)
wheel_link = Link("my_wheel", elements=[wheel])
attachment_point = Vector3(0, 0, 0.5 * wheel_geom.length)
wheel_link.align(attachment_point, Vector3(0, 0, 1), Vector3(0, 1, 0),
Vector3(0, 0, 0.5 * box_geom.size[0] + cyl_geom.length),
Vector3(0, 0, 1), Vector3(1, 0, 0), link)
# Create a joint link, and set its position (which is in the child frame)
joint = Joint("revolute", link, wheel_link, axis=Vector3(0, 0, 1))
joint.set_position(attachment_point)
# Create a model and a wrapping SDF element, and output
# Move the model up so it won't intersect with the ground when inserted.
model = Model("my_robot", elements=[link, wheel_link, joint])
model.set_position(Vector3(0, 0, math.sqrt(0.5)))
sdf = SDF(elements=[model])
print(str(sdf))
# the collision elements.
link.align_center_of_mass()
link.calculate_inertial()
# Rotate the link 45 degrees around the x-axis, specified in the parent frame
# just to demonstrate how that works (and to demonstrate align is still
# going to work after the rotation).
link.rotate_around(Vector3(1, 0, 0), math.radians(45), relative_to_child=False)
# Okay, not sure what this is supposed to be, but let's another wheel-like cylinder in
# a new link, and connect them with joints
wheel_geom = Cylinder(0.75, 0.1, mass=0.1)
wheel = StructureCombination("wheel", wheel_geom)
wheel_link = Link("my_wheel", elements=[wheel])
attachment_point = Vector3(0, 0, 0.5 * wheel_geom.length)
wheel_link.align(attachment_point, Vector3(0, 0, 1), Vector3(0, 1, 0),
Vector3(0, 0, 0.5 * box_geom.size[0] + cyl_geom.length),
Vector3(0, 0, 1), Vector3(1, 0, 0), link)
# Create a joint link, and set its position (which is in the child frame)
joint = Joint("revolute", link, wheel_link, axis=Vector3(0, 0, 1))
joint.set_position(attachment_point)
# Create a model and a wrapping SDF element, and output
# Move the model up so it won't intersect with the ground when inserted.
model = Model("my_robot", elements=[link, wheel_link, joint])
model.set_position(Vector3(0, 0, math.sqrt(0.5)))
sdf = SDF(elements=[model])
print(str(sdf))