def get_angular_velocity(self):
return p.getBaseVelocity(self._object_id)[1]
def main():
parser = argparse.ArgumentParser("Lobster Simulator")
parser.add_argument('--gui', type=bool, help='Run with or without GUI')
args = parser.parse_args()
gui = args.gui
time_step = 4000
simulator = Simulator(time_step,
gui=gui,
config={"rotate_camera_with_robot": False})
simulator.create_robot(Models.SCOUT_ALPHA, buoyancy_resolution=0.07)
# Only try to add debug sliders and visualisation when the gui is showing
if gui:
desired_pos_sliders = [
PybulletAPI.addUserDebugParameter("desired x", -100, 100, 0),
PybulletAPI.addUserDebugParameter("desired y", -100, 100, 0),
PybulletAPI.addUserDebugParameter("desired z", 0, 100, 90)
]
roll_rate_slider = PybulletAPI.addUserDebugParameter(
"rate ROLL", -10, 10, 0)
simulator_time_step_slider = PybulletAPI.addUserDebugParameter(
"simulation timestep microseconds", 1000, 500000, 4000)
high_level_controller = HighLevelController(gui,
simulator.robot.get_position(),
Vec3([.0, .0, .0]),
position_control=True)
terrain_loader = Terrain.perlin_noise_terrain(30)
paused = False
cycles = 0
previous_time = time.time()
cycles_per_second = 0
while True:
keys = PybulletAPI.getKeyboardEvents()
if ord('p') in keys and keys[ord('p')] == 3:
paused = not paused
if ord('r') in keys and keys[ord('r')] == 3:
simulator.reset_robot()
if PybulletAPI.DELETE_KEY in keys and keys[
PybulletAPI.DELETE_KEY] == 3:
break
lobster_pos, lobster_orn = simulator.robot.get_position_and_orientation(
)
terrain_loader.update(lobster_pos)
if not paused:
# Reading all the debug parameters (only if the gui is showing)
if gui:
time_step = PybulletAPI.readUserDebugParameter(
simulator_time_step_slider)
high_level_controller.set_target_rate(
ROLL, PybulletAPI.readUserDebugParameter(roll_rate_slider))
simulator.set_time_step(time_step)
velocity = PybulletAPI.getBaseVelocity(simulator.robot.object_id)
high_level_controller.update(lobster_pos, lobster_orn, velocity[0],
velocity[1], time_step / 1000000)
thrust_motors = high_level_controller.motor_thrust_outputs
for i, thruster in enumerate(simulator.robot.thrusters.values()):
thruster.set_desired_thrust(thrust_motors[i])
simulator.do_step()
previous_weight = 0.99
cycles_per_second = previous_weight * cycles_per_second + (
1 - previous_weight) / (time.time() - previous_time)
# print(f'{cycles_per_second:.0f}', end='\r')
previous_time = time.time()
PybulletAPI.disconnect()
def get_velocity(self) -> Vec3:
"""
Gets the linear velocity of the Robot in the World frame.
"""
return p.getBaseVelocity(self._object_id)[0]
