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('..')
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,
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('..')
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()
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()
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()
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'])
