def add_ocean_floor(self, depth=100):
id = PybulletAPI.loadURDF(resource_filename("lobster_simulator",
"data/plane1000.urdf"),
base_position=Vec3((0, 0, depth)))
texture = PybulletAPI.loadTexture(
resource_filename("lobster_simulator", "data/checker_blue.png"))
PybulletAPI.changeVisualShape(id, texture, rgbaColor=[1, 1, 1, 1])
def __init__(self, time: SimulationTime):
water_id = PybulletAPI.loadURDF(
resource_filename("lobster_simulator", "data/water_surface.urdf"),
Vec3([0, 0, 0]))
self.water_texture = PybulletAPI.loadTexture(
resource_filename("lobster_simulator", "data/water_texture.png"))
PybulletAPI.changeVisualShape(water_id,
textureUniqueId=self.water_texture,
rgbaColor=[0, 0.3, 1, 0.5])
def __init__(self,
time: SimulationTime,
config,
start_position: Optional[Vec3] = None,
start_orientation: Optional[Quaternion] = None):
if config is None:
raise ArgumentNoneError("config parameter should not be None")
if start_position is None:
start_position = Vec3([0, 0, 0])
if start_orientation is None:
start_orientation = Quaternion([0, 0, 0, 1])
self._center_of_volume = Vec3(config['center_of_volume'])
self.damping_matrix: np.ndarray = np.diag(
config['damping_matrix_diag'])
object_id = p.loadURDF(
resource_filename("lobster_simulator", "data/scout-alpha.urdf"),
start_position, start_orientation)
super().__init__(object_id)
if config.get('visualize_buoyancy', False):
# Make sure the robot is slightly see through so that the buoyancy dots are visible
PybulletAPI.changeVisualShape(object_id,
rgbaColor=[1, 1, 1, 0.7],
textureUniqueId=-1)
self._buoyancy = buoyancy.Buoyancy(
self,
0.10,
2,
resolution=config.get('buoyancy_resolution'),
visualize=config.get('visualize_buoyancy', False))
config_thrusters = config['thrusters']
self.thrusters: Dict[str, Thruster] = dict()
for i in range(len(config_thrusters)):
self.thrusters[config_thrusters[i]['name']] = Thruster.new_T200(
self, config_thrusters[i]['name'],
Vec3(config_thrusters[i]['position']),
Vec3(config_thrusters[i]['direction']))
# Set damping to zero, because default is not zero
p.changeDynamics(self._object_id,
linearDamping=0.0,
angularDamping=0.0)
self._motor_debug_lines = list()
self._motor_count = len(config_thrusters)
self._rpm_motors = list()
self._desired_rpm_motors: List[float] = list()
self._pressure_sensor = PressureSensor(self,
Vec3([1, 0, 0]),
SimulationTime(4000),
time=time)
self._accelerometer = Accelerometer(self,
Vec3([1, 0, 0]),
SimulationTime(4000),
time=time)
self._gyroscope = Gyroscope(self,
Vec3([1, 0, 0]),
SimulationTime(4000),
time=time)
self._magnetometer = Magnetometer(self,
Vec3([1, 0, 0]),
SimulationTime(4000),
time=time)
self._dvl = DVL(self,
Vec3([-.5, 0, 0.10]),
time_step=SimulationTime(4000),
time=time)
self._max_thrust = 100