def __init__(self, demo_dt, demo_dir): # Initialize XBox controller self.controller = XboxControllerInterface(use_thread=True, verbose=False) # Create simulator self.sim = Bullet() # create world self.world = BasicWorld(self.sim) # Create Robot self.robot = Robot(self.sim, self.world) self.robot.go_home() self.workspace_outer_bound = {'rad': 1.0} self.workspace_inner_bound = {'rad': 0.25, 'height': 0.7} self.env_objects = [] self.demo_dir = demo_dir self.demo_dt = demo_dt
def __init__(self, spheres=[[0.09, -0.44, 0.715, 1]], cuboids=None): # Define size of the map self.res = 1. # Initialize XBox controller self.controller = XboxControllerInterface(use_thread=True, verbose=False) # Create simulator self.sim = Bullet() # create world self.world = BasicWorld(self.sim) # create robot self.robot = KukaIIWA(self.sim) # define start/end pt self.start_pt = [-0.75, 0., 0.75] self.end_pt = [0.75, 0., 0.75] # Initialize robot location self.send_robot_to(np.array(self.start_pt), dt=2) # Get via points from user via_pts = self.get_via_pts( ) # [[-0.19, -0.65, 0.77], [0.51, -0.44, 0.58]] self.motion_targets = [self.start_pt] + via_pts + [self.end_pt]
# -*- coding: utf-8 -*- #!/usr/bin/env python """Load the Minitaur robot. """ from itertools import count from pyrobolearn.simulators import Bullet from pyrobolearn.worlds import BasicWorld from pyrobolearn.robots import Minitaur # Create simulator sim = Bullet() # create world world = BasicWorld(sim) # create robot robot = Minitaur(sim) # print information about the robot robot.print_info() # Position control using sliders # robot.add_joint_slider(robot.left_front_leg) # run simulator for _ in count(): # robot.update_joint_slider() # robot.compute_and_draw_com_position() # robot.compute_and_draw_projected_com_position() world.step(sleep_dt=1./240)
type=float, default=1000.0, help="physics frame rate") parser.add_argument("--stadium", default=False, action='store_true', help="use stadium for world") args = parser.parse_args() RATE_HZ = args.fps TIME_STEP = 1.0 / RATE_HZ GRAVITY_MSS = 9.80665 # Create simulator sim = Bullet() # create world from pyrobolearn.worlds import BasicWorld world = BasicWorld(sim) if args.stadium: world.sim.remove_body(world.floor_id) world.floor_id = world.sim.load_sdf(os.path.join( pybullet_data.getDataPath(), "stadium.sdf"), position=[0, 0, 0]) # setup keyboard interface interface = prl.tools.interfaces.MouseKeyboardInterface()
#!/usr/bin/env python # -*- coding: utf-8 -*- """Load the RRBot robotic platform. """ import numpy as np from itertools import count from pyrobolearn.simulators import Bullet from pyrobolearn.worlds import BasicWorld from pyrobolearn.robots import RRBot # Create simulator sim = Bullet() # create world world = BasicWorld(sim) # load robot robot = RRBot(sim) # robot.add_joint_slider() print("Robot: {}".format(robot)) print("Total number of joints: {}".format(robot.num_joints)) print("Joint names: {}".format(robot.get_joint_names(range(robot.num_joints)))) print("Link names: {}".format(robot.get_link_names(range(robot.num_joints)))) print("Number of DoFs: {}".format(robot.num_dofs)) print("Robot actuated joint ids: {}".format(robot.joints)) print("Actuated joint names: {}".format(robot.get_joint_names())) print("Actuated link names: {}".format(robot.get_link_names())) print("Current joint positions: {}".format(robot.get_joint_positions()))
"instead got: {}".format(type(body_id))) target_position = self.sim.get_base_position(body_id) self.reset(distance=distance, yaw=yaw, pitch=pitch, target_position=target_position) # Tests if __name__ == '__main__': from itertools import count import time from pyrobolearn.simulators import Bullet # create simulator sim = Bullet() # load floor floor_id = sim.load_urdf('plane.urdf', use_fixed_base=True) # create camera camera = WorldCamera(sim) # define variables radius = 2 theta = 0 dtheta = 0.01 for t in count(): # get camera information and print them position = camera.position