publisher = Publisher(5055)
if controller != None:
publisher.addToCatalog('yaw_ang_target', controller.getDesiredYawDeg)
publisher.addToCatalog('pitch_ang_target', controller.getDesiredPitchDeg)
publisher.addToCatalog('knee_ang_target', controller.getDesiredKneeDeg)
publisher.addToCatalog('yaw_cmd', lambda: commands[0])
publisher.addToCatalog('pitch_cmd', lambda: commands[1])
publisher.addToCatalog('knee_cmd', lambda: commands[2])
d = {'offset': (0, 0, 2.00)}
s = Simulator(dt=5e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnColumn,
robot_kwargs=d,
start_paused=1,
render_objs=1,
draw_contacts=1,
publish_int=20)
yaw_joint = s.robot.joints['hip_yaw']
pitch_joint = s.robot.joints['hip_pitch']
knee_joint = s.robot.joints['knee_pitch']
yaw_joint_bl = s.robot.joints['hip_yaw_bl']
pitch_joint_bl = s.robot.joints['hip_pitch_bl']
knee_joint_bl = s.robot.joints['knee_pitch_bl']
shock_joint = s.robot.joints['foot_shock']
control_period = 5e-3
last_time = 0.0
import sys
sys.path.append('../..')
import random
from SimulationKit import Simulator
from SimulationKit.Robots import LegOnStand
import time
import StudentControl
d = {'offset': (0, 0, 1.1)}
s = Simulator(dt=1e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnStand,
robot_kwargs=d,
start_paused=True)
# Put up the goal posts
wickets = []
static_geoms = []
row_n = 6
x_off = .5
y_off = .5
i = 0
# Rack up the pins
for i in range(row_n):
for j in range(i + 1):
update = retval
controller = None
commands = [0,0,0]
publisher = Publisher(5055)
if controller != None:
publisher.addToCatalog( 'yaw_ang_target' , controller.getDesiredYawDeg )
publisher.addToCatalog( 'pitch_ang_target' , controller.getDesiredPitchDeg )
publisher.addToCatalog( 'knee_ang_target' , controller.getDesiredKneeDeg )
publisher.addToCatalog( 'yaw_cmd' , lambda: commands[0] )
publisher.addToCatalog( 'pitch_cmd' , lambda: commands[1] )
publisher.addToCatalog( 'knee_cmd' , lambda: commands[2] )
d = {'offset':(0,0,2.00)}
s = Simulator(dt=5e-3,plane=1,pave=0,graphical=1,robot=LegOnColumn,robot_kwargs=d, start_paused = 1, render_objs=1, draw_contacts=1, publish_int=20)
yaw_joint = s.robot.joints['hip_yaw']
pitch_joint = s.robot.joints['hip_pitch']
knee_joint = s.robot.joints['knee_pitch']
yaw_joint_bl = s.robot.joints['hip_yaw_bl']
pitch_joint_bl = s.robot.joints['hip_pitch_bl']
knee_joint_bl = s.robot.joints['knee_pitch_bl']
shock_joint = s.robot.joints['foot_shock']
control_period = 5e-3
last_time = 0.0
while True:
s.step()
time = s.getSimTime()
import sys
sys.path.append('../..')
import random
from SimulationKit import Simulator
from SimulationKit.Robots import LegOnStand
import time
import StudentControl
d = {'offset':(0,0,1.1)}
s = Simulator(dt=1e-3,plane=1,pave=0,graphical=1,robot=LegOnStand,robot_kwargs=d, start_paused = True)
# Put up the goal posts
wickets = []
static_geoms = []
row_n = 6
x_off = .5
y_off = .5
i = 0
# Rack up the pins
for i in range(row_n):
for j in range(i+1):
body, geom = s.createCapsule( mass = 1.0e1, length = 1.0, radius = 0.1, pos = (5.0+i*x_off, y_off*j - i*(y_off/2),0.7) )
wickets.append(body)
static_geoms.append(geom)
# Place the ball
ball,g = s.createSphere( mass=1.0e2, radius=0.25, pos=(1.75,random.uniform(-.05,.05),.25))
# Declare the victory condition
from SimulationKit import Simulator
from SimulationKit.Robots import SpiderWHydraulics
from ControlsKit.filters import LowPassFilter
from ControlsKit.time_sources import global_time
from UI import InputServer
import time
input_server = InputServer()
input_server.startListening()
d = {'offset': (0, 0, 1.5)}
s = Simulator(dt=2e-3,
plane=1,
pave=0,
graphical=1,
ground_grade=0.,
robot=SpiderWHydraulics,
robot_kwargs=d,
render_objs=1,
draw_contacts=0)
last_t = 0
def toScale(val):
return float(val) / 128. - 1
try:
while True:
s.step()
global_time.updateTime(s.getSimTime())
import sys
sys.path.append('..')
sys.path.append('planners')
from SimulationKit import Simulator
from SimulationKit.Robots import SpiderWHydraulics
from SimulationKit.helpers import *
from ControlsKit.import_planner import importPlanner
from UI import InputServer, logger
# Check command-line arguments to find the planner module
update = importPlanner()
d = {'offset':(0,0,1.0)}
s = Simulator(dt=1e-3,plane=1,pave=0,graphical=1,robot=SpiderWHydraulics,robot_kwargs=d, start_paused = True)
input_server = InputServer()
input_server.startListening()
try:
last_command = None
while True:
s.step()
if not s.getPaused():
time = s.getSimTime()+.0001 # FIXME: first time time_delta is called, it returns zero, which means pid commands infinity
# FIXME: Known bug, getAcceleration returns (0,0,0)
next_command = input_server.getLastCommand()
command = next_command if next_command != last_command else None
last_command = next_command
# print command[15]
import sys
sys.path.append('..')
from SimulationKit import Simulator
from SimulationKit.Robots import LegOnColumn
d = {'offset': (0, 0, 1.5)}
s = Simulator(dt=2e-3,
plane=1,
graphical=1,
ground_grade=.00,
robot=LegOnColumn,
robot_kwargs=d,
render_objs=1,
draw_COM=0,
draw_support=0,
draw_contacts=0)
while True:
s.step()
from SimulationKit.helpers import *
from ControlsKit.import_planner import importPlanner
from UI import InputServer
# Check command-line arguments to find the planner module
retval = importPlanner()
# FIXME: This is to allow backwards compatibility to older versions of importPlanner
if type(retval) == tuple:
update, controller = retval
else:
update = retval
controller = None
d = {'offset': (0, 0, 0.67)}
s = Simulator(dt=1e-3, plane=1, pave=0, graphical=1, robot=LegOnStand, robot_kwargs=d, start_paused=False)
input_server = InputServer() # TODO: pass along at least a password argument here
input_server.startListening()
yaw_joint = s.robot.members['hip_yaw']
pitch_joint = s.robot.members['hip_pitch']
knee_joint = s.robot.members['knee_pitch']
shock_joint = s.robot.members['foot_shock']
try:
while True:
s.step()
if not s.getPaused():
time = s.getSimTime()
command = input_server.getLastCommand()
lr = update(time, yaw_joint.getAngle(), pitch_joint.getAngle(), knee_joint.getAngle(), shock_joint.getPosition(), command)
yaw_joint.setLengthRate(lr[0])
import sys
sys.path.append('..')
from SimulationKit import Simulator
from SimulationKit.Robots import SpiderWHydraulics
d = {'offset': (0, 0, 1.5)}
print Simulator
s = Simulator(dt=2e-3,
plane=1,
graphical=1,
ground_grade=.00,
robot=SpiderWHydraulics,
robot_kwargs=d,
render_objs=1,
draw_COM=1,
draw_support=1,
draw_contacts=0,
height_map=None)
while True:
s.step()
s.robot.constantSpeedWalkSmart()
sys.path.append('planners')
from SimulationKit import Simulator
from SimulationKit.Robots import SpiderWHydraulics
from SimulationKit.helpers import *
from ControlsKit.import_planner import importPlanner
from UI import InputServer, logger
# Check command-line arguments to find the planner module
update = importPlanner()
d = {'offset': (0, 0, 1.0)}
s = Simulator(dt=1e-3,
plane=1,
pave=0,
graphical=1,
robot=SpiderWHydraulics,
robot_kwargs=d,
start_paused=True)
input_server = InputServer()
input_server.startListening()
try:
last_command = None
while True:
s.step()
if not s.getPaused():
time = s.getSimTime(
) + .0001 # FIXME: first time time_delta is called, it returns zero, which means pid commands infinity
# FIXME: Known bug, getAcceleration returns (0,0,0)
next_command = input_server.getLastCommand()
from footPositionFromJointAngles import *
from transformations import *
import sys
sys.path.append('../..')
from SimulationKit import Simulator
from SimulationKit.Robots import LegOnStand
d = {'offset': (0, 0, 0.63)}
s = Simulator(dt=1e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnStand,
robot_kwargs=d,
start_paused=True)
yaw = s.robot.members['hip_yaw']
pitch = s.robot.members['hip_pitch']
knee = s.robot.members['knee_pitch']
foot_shock = s.robot.members['foot_shock']
while True:
s.step()
if not s.paused:
print footPositionFromJointAngles(yaw.getAngle(), pitch.getAngle(),
knee.getAngle(),
foot_shock.getPosition(), s.robot)
from UI import InputServer
# Check command-line arguments to find the planner module
retval = importPlanner()
# FIXME: This is to allow backwards compatibility to older versions of importPlanner
if type(retval) == tuple:
update, controller = retval
else:
update = retval
controller = None
d = {'offset': (0, 0, 0.67)}
s = Simulator(dt=1e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnStand,
robot_kwargs=d,
start_paused=False)
input_server = InputServer(
) # TODO: pass along at least a password argument here
input_server.startListening()
yaw_joint = s.robot.members['hip_yaw']
pitch_joint = s.robot.members['hip_pitch']
knee_joint = s.robot.members['knee_pitch']
shock_joint = s.robot.members['foot_shock']
try:
while True:
s.step()
if not s.getPaused():
#!/usr/bin/env python
import sys
sys.path.append('../..')
import random
from SimulationKit import Simulator
from SimulationKit.Robots import LegOnStand
import time
import StudentControl
d = {'offset': (0, 0, 1.1)}
s = Simulator(dt=1e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnStand,
robot_kwargs=d,
start_paused=True)
# Put up the goal posts
wickets = []
static_geoms = []
row_n = 6
x_off = .5
y_off = .5
i = 0
# Rack up the pins
for i in range(row_n):
for j in range(i + 1):
import sys
sys.path.append('..')
from SimulationKit import Simulator
from SimulationKit.Robots import LegOnStand
from SimulationKit.helpers import *
import time
from math import *
d = {'offset': (0, 0, 0.67)}
s = Simulator(dt=1e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnStand,
robot_kwargs=d,
start_paused=True)
# Put up the goal posts
wickets = []
static_geoms = []
row_n = 2
x_off = .5
y_off = .5
i = 0
# Rack up the pins
for i in range(row_n):
for j in range(i + 1):
body, geom = s.createCapsule(mass=1.0e1,
length=1.0,
radius=0.1,
stick = joystick.Joystick(0)
stick.init()
print "Joystick detected: ", stick.get_name()
print "Axes: ", stick.get_numaxes()
print "Balls: ", stick.get_numballs()
print "Hats: ", stick.get_numhats()
print "Buttons: ", stick.get_numbuttons()
stick_neutrals = []
d = {'offset': (0, 0, 1.5)}
s = Simulator(dt=2e-3,
plane=1,
pave=0,
graphical=1,
ground_grade=.00,
robot=SpiderWHydraulics,
robot_kwargs=d,
render_objs=1,
draw_contacts=0)
last_t = 0
x_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
y_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
z_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
r_low = LowPassFilter(gain=1.0, corner_frequency=1.2)
while True:
s.step()
global_time.updateTime(s.getSimTime())
if s.getSimTime() - last_t > .001:
x = -(stick.get_axis(1) + .15466)
if x < 0:
import sys
sys.path.append('..')
from SimulationKit import Simulator
from SimulationKit.Robots import SpiderWHydraulics
d = {'offset':(0,0,3.5)}
s = Simulator(dt=2e-3,plane=0,graphical=1,ground_grade=.00,robot=SpiderWHydraulics,robot_kwargs=d,\
render_objs=0, draw_COM=0, draw_support=0, draw_contacts=1,\
height_map="heightmap.jpg", terrain_scales=(1,1,3))
while True:
s.step()
s.robot.constantSpeedWalkSmart()
import sys
sys.path.append('..')
from SimulationKit import Simulator
from SimulationKit.Robots import Hexy
import time
d = {'offset': (0, 0, 20e-2)}
s = Simulator(dt=0, plane=1, pave=0, graphical=1, robot=Hexy, robot_kwargs=d)
last_t = time.time()
rad2deg = 180. / 3.14159
def updateServo(j):
j.servo.setPos(degrees=(j.servo_mult * rad2deg * j.getAngleTarget()) +
j.servo_offset)
while True:
s.step()
s.robot.constantSpeedWalk()
if time.time() - last_t > 50e-3:
updateServo(s.robot.legs[0]['hip_yaw'])
updateServo(s.robot.legs[0]['hip_pitch'])
updateServo(s.robot.legs[0]['knee_pitch'])
updateServo(s.robot.legs[1]['hip_yaw'])
updateServo(s.robot.legs[1]['hip_pitch'])
updateServo(s.robot.legs[1]['knee_pitch'])
updateServo(s.robot.legs[2]['hip_yaw'])
updateServo(s.robot.legs[2]['hip_pitch'])
