def robot_to_sdf(robot, name="test_bot", plugin_controller=None):
model = builder.get_sdf_model(robot,
plugin_controller,
update_rate=UPDATE_RATE,
name=name)
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.get_sdf_model(robot, analyzer_mode=True, controller_plugin=None, name="analyze_bot")
model.remove_elements_of_type(Sensor, recursive=True)
sdf = SDF()
sdf.add_element(model)
return sdf
def get_simulation_robot(robot, name, builder, conf):
"""
:param robot:
:param name:
:param builder:
:param conf: Config
:return:
"""
model = builder.get_sdf_model(robot, controller_plugin="libtolrobotcontrol.so",
update_rate=conf.controller_update_rate, name=name)
apply_surface_parameters(model)
sdf = SDF()
sdf.add_element(model)
return sdf
def get_simulation_robot(robot, name, builder, conf):
"""
:param robot:
:param name:
:param builder:
:param conf: Config
:return:
"""
model = builder.get_sdf_model(robot, controller_plugin="libtolrobotcontrol.so",
update_rate=conf.controller_update_rate, name=name)
apply_surface_parameters(model)
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.get_sdf_model(robot,
analyzer_mode=True,
controller_plugin=None,
name="analyze_bot")
model.remove_elements_of_type(Sensor, recursive=True)
sdf = SDF()
sdf.add_element(model)
return sdf
def get_simulation_robot(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.get_sdf_model(robot=robot,
controller_plugin="libtolrobotcontrol.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
Quaternion.from_rpy(0, math.radians(-incline),
math.radians(90 * x)))
model.add_element(steps.copy())
return model
#generate a grid of boxes and write to file
sdf = SDF()
model_name = "boxes_grid"
model = gen_boxes(model_name,
dimensions=6,
spacing=0.3,
size=0.04,
height=0.02)
sdf.add_element(model)
write_model(model_name, sdf)
#generate steps
sdf = SDF()
model_name = "exp2_steps"
model = gen_steps(model_name, incline=4, offset=0.8)
#model.set_position(Vector3(0,0,-0.041)) #inaccurate height compensation due to the incline - does not seem to affect the model?
sdf.add_element(model)
write_model(model_name, sdf)
#different boxes
sdf = SDF()
model_name = "exp2_boxes"
model = gen_boxes(model_name,
dimensions=6,
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_robot(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.get_sdf_model(bot, "libtolrobotcontrol.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
print(str(sdf))
def robot_to_sdf(robot, name="test_bot", plugin_controller=None):
model = builder.get_sdf_model(robot, plugin_controller, update_rate=UPDATE_RATE, name=name)
sdf = SDF()
sdf.add_element(model)
return sdf
