def main():
client = airsim.UrdfBotClient()
print('Building request...')
position = at.Vector3r(x_val = 0, y_val = 0, z_val = 100)
direction = at.Vector3r(x_val = 0, y_val = 0, z_val = -100)
through_blocking = True
persist_seconds = 100
reference_frame_link = ''
request = at.RayCastRequest(position, direction, reference_frame_link, through_blocking, persist_seconds)
print('Casting ray')
response = client.simRayCast(request)
print('Response:')
print('{0} hits.'.format(len(response['hits'])))
for i in range(0, len(response['hits']), 1):
hit = response['hits'][i]
print('=================')
print('hit {0}'.format(i))
print('collided actor: {0}'.format(hit['collided_actor_name']))
print('hit_point: <{0}, {1}, {2}>'.format(hit['hit_point']['x_val'], hit['hit_point']['y_val'], hit['hit_point']['z_val']))
print('hit normal: <{0}, {1}, {2}>'.format(hit['hit_normal']['x_val'], hit['hit_normal']['y_val'], hit['hit_normal']['z_val']))
print('=================')
print('')
print('Graceful termination.')
def __init__(self):
self.airsim_client = airsim.UrdfBotClient()
self.airsim_client.confirmConnection()
self.airsim_client.enableApiControl(True)
self.__front_wheel_force_name = 'front_wheel_force'
self.__back_wheel_force_name = 'back_wheel_force'
self.__sideways_force_name = 'sideways_force'
self.__actuator_name = 'base_to_linear_actuated'
self.__servo_name = 'linear_actuated_to_servo'
self.__wheel_speed = 50.0
self.__sideways_force_mag = 10000.0
#Add forces
front_wheel_angular_force = at.AddAngularForce(
force_name_val=self.__front_wheel_force_name,
link_name_val='front_cyl',
axis_val=at.Vector3r(x_val=0, y_val=1, z_val=0))
back_wheel_angular_force = at.AddAngularForce(
force_name_val=self.__back_wheel_force_name,
link_name_val='back_cyl',
axis_val=at.Vector3r(x_val=0, y_val=1, z_val=0))
sideways_force_name = at.AddLinearForce(
force_name_val=self.__sideways_force_name,
link_name_val='base_link',
application_point_val=at.Vector3r(x_val=0, y_val=0, z_val=0.5),
axis_val=at.Vector3r(x_val=0, y_val=1, z_val=0))
self.airsim_client.addAngularForce(front_wheel_angular_force)
self.airsim_client.addAngularForce(back_wheel_angular_force)
self.airsim_client.addLinearForce(sideways_force_name)
def main():
client = airsim.UrdfBotClient()
print('Building shape request...')
dsr = at.DrawableShapeRequest(shapes={}, persist_unmentioned=True)
reference_frame_link = ''
dsr = client.addDrawableShapePoint(dsr, 'point', reference_frame_link, 3,
0, 0, 1, 255, 0, 0, 0)
dsr = client.addDrawableShapeSphere(dsr, 'sphere', reference_frame_link, 5,
0, 0, 1, 3, 64, 0, 255, 0, 0)
dsr = client.addDrawableShapeCircle(dsr, 'circle', reference_frame_link, 0,
0, 5, 0, 1, 0, 1, 3, 64, 0, 0, 255, 0)
dsr = client.addDrawableShapeBox(dsr, 'box', reference_frame_link, 0, -3,
0, 1, 2, 1, 10, 255, 255, 0, 0)
dsr = client.addDrawableShapeLine(dsr, 'line', reference_frame_link, 1, 1,
1, 5, 5, 5, 1, 0, 255, 255, 0)
print('Sending request')
client.simSetDrawableShapes(dsr)
print('Waiting...')
time.sleep(2)
print('Changing color of the sphere')
dsr2 = at.DrawableShapeRequest(shapes={}, persist_unmentioned=True)
dsr2 = client.addDrawableShapeSphere(dsr2, 'sphere', reference_frame_link,
5, 0, 0, 1, 3, 64, 255, 0, 255, 0)
print('Sending request')
client.simSetDrawableShapes(dsr2)
print('Waiting...')
time.sleep(2)
print('Dropping all but the sphere')
dsr3 = at.DrawableShapeRequest(shapes={}, persist_unmentioned=False)
dsr3 = client.addDrawableShapeSphere(dsr3, 'sphere', reference_frame_link,
5, 0, 0, 1, 3, 64, 255, 0, 0, 0)
print('Sending request')
client.simSetDrawableShapes(dsr3)
print('Waiting...')
time.sleep(2)
print('Dropping all')
dsr4 = at.DrawableShapeRequest()
print('Sending request')
client.simSetDrawableShapes(dsr4)
print('Graceful termination')
def __init__(self, wheel_base, wheel_radius, max_speed):
self.airsim_client = airsim.UrdfBotClient()
self.airsim_client.confirmConnection()
self.airsim_client.enableApiControl(True)
self.wheel_base = wheel_base
self.wheel_radius = wheel_radius
self.max_speed = max_speed
self.right_wheel_joint_name = 'base_rwheel'
self.left_wheel_joint_name = 'base_lwheel'
self.pi = 3.1415926535
def __init__(self):
self.airsim_client = airsim.UrdfBotClient()
self.airsim_client.confirmConnection()
self.airsim_client.enableApiControl(True)
self.platform_joint_name = 'base_to_platform'
self.first_joint_name = 'platform_to_base_sphere'
self.second_joint_name = 'first_link_to_first_link_sphere'
self.third_joint_name = 'second_link_to_second_link_sphere'
self.fourth_joint_name = 'second_link_sphere_to_final_link'
self.manipulator_left_joint_name = 'manipulator_base_to_left_manipulator'
self.manipulator_right_joint_name = 'manipulator_base_to_right_manipulator'
def main():
client = airsim.UrdfBotClient()
random.seed(42)
print('Reading annotations...')
annotations = annotations_common.map_annotation.MapAnnotation(
client, 'three_bridges_annotations/three_bridges_annotations.json')
drawable_shape_request = at.DrawableShapeRequest(shapes={},
persist_unmentioned=True)
print('Drawing directed paths...')
for key in annotations.annotations[
annotations.DIRECTED_PATH_ANNOTATION_TYPE]:
drawable_shape_request = add_annotated_path(
annotations.annotations[annotations.DIRECTED_PATH_ANNOTATION_TYPE]
[key], drawable_shape_request, client)
print('Drawing points of interest...')
for key in annotations.annotations[annotations.POI_ANNOTATION_TYPE]:
drawable_shape_request = add_annotated_poi(
annotations.annotations[annotations.POI_ANNOTATION_TYPE][key],
drawable_shape_request, client)
print('Drawing polygons...')
for key in annotations.annotations[annotations.POLYGON_ANNOTATION_TYPE]:
drawable_shape_request = add_annotated_polygon(
annotations.annotations[annotations.POLYGON_ANNOTATION_TYPE][key],
drawable_shape_request, client)
print('Drawing maze bounds...')
for key in annotations.annotations[annotations.MAZE_ANNOTATION_TYPE]:
drawable_shape_request = add_maze_bounds(
annotations.annotations[annotations.MAZE_ANNOTATION_TYPE][key],
drawable_shape_request, client)
print('Sending draw request...')
client.simSetDrawableShapes(drawable_shape_request)
print('Creating maze grid image...')
maze_grid = annotations.annotations[
annotations.MAZE_ANNOTATION_TYPE]['MazeAnnotations'].grid
fig = plt.figure(figsize=(10, 10))
plt.title('Visual representation of maze occupancy matrix.')
plt.imshow(maze_grid, cmap='cool')
plt.show()
print('Done!')
def main():
client = airsim.UrdfBotClient()
random.seed(42)
cone_class_name = "/Game/StarterContent/Props/SM_Couch.SM_Couch"
xs = [0, 0.1]
ys = [0, 0.1]
time_stamp = 0
for i in range(0, 3, 1):
xs.append(random.randint(0, 10))
ys.append(random.randint(0, 10))
for i in range(0, len(xs), 1):
x = xs[i]
y = ys[i]
random_position = at.Vector3r(x_val=x, y_val=y, z_val=5)
random_orientation = at.Quaternionr(x_val=0, y_val=0, z_val=0, w_val=1)
random_pose = at.Pose(position_val=random_position, orientation_val=random_orientation)
print('Spawning cone at ({0}, {1})...'.format(x, y))
client.simSpawnStaticMeshObject(cone_class_name, 'cone_{0}'.format(i), random_pose)
time.sleep(2)
ci = client.simGetCollisionInfo()
if (ci.has_collided and ci.time_stamp > time_stamp):
print('\tBot has collided with {0}.'.format(ci.object_name))
time_stamp = ci.time_stamp
else:
print('\tBot has not collided.')
time.sleep(3)
for i in range(0, len(xs), 1):
cone_name = 'cone_{0}'.format(i)
cone_pose = client.simGetObjectPose(cone_name)
print('Cone "{0}" is at position <{1}, {2}, {3}>'.format(cone_name, cone_pose.position.x_val, cone_pose.position.y_val, cone_pose.position.z_val))
time.sleep(3)
for i in range(0, len(xs), 1):
cone_name = 'cone_{0}'.format(i)
print('Deleting cone {0}...'.format(cone_name))
client.simDeleteObject(cone_name)
print('Graceful termination')
def main():
client = airsim.UrdfBotClient()
print('Testing X')
setPose(2, 0, 0, 0, 0, 0, client)
time.sleep(2)
setPose(-2, 0, 0, 0, 0, 0, client)
time.sleep(2)
print('Testing Y')
setPose(0, 2, 0, 0, 0, 0, client)
time.sleep(2)
setPose(0, -2, 0, 0, 0, 0, client)
time.sleep(2)
print('Testing Z')
setPose(0, 0, 2, 0, 0, 0, client)
time.sleep(2)
setPose(0, 0, -2, 0, 0, 0, client)
time.sleep(2)
print('Testing Yaw')
setPose(0, 0, 2, 45, 0, 0, client)
time.sleep(2)
setPose(0, 0, 2, -45, 0, 0, client)
time.sleep(2)
print('Testing Pitch')
setPose(0, 0, 2, 0, 45, 0, client)
time.sleep(2)
setPose(0, 0, 2, 0, -45, 0, client)
time.sleep(2)
print('Testing Roll')
setPose(0, 0, 2, 0, 0, 45, client)
time.sleep(2)
setPose(0, 0, 2, 0, 0, -45, client)
time.sleep(2)
print('Graceful Termination')