def robot_to_sdf(robot, name="test_bot", plugin_controller=None):
model = builder.sdf_robot(robot=robot,
controller_plugin=plugin_controller,
update_rate=UPDATE_RATE,
name=name)
model_sdf = SDF()
model_sdf.add_element(model)
return model_sdf
def robot_to_sdf(robot, name="test_bot", plugin_controller=None):
model = builder.sdf_robot(
robot=robot,
controller_plugin=plugin_controller,
update_rate=UPDATE_RATE,
name=name)
model_sdf = SDF()
model_sdf.add_element(model)
return model_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.sdf_robot(robot=robot,
controller_plugin=None,
name="analyze_bot",
analyzer_mode=True)
model.remove_elements_of_type(Sensor, recursive=True)
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.sdf_robot(
robot=robot,
controller_plugin=None,
name="analyze_bot",
analyzer_mode=True)
model.remove_elements_of_type(Sensor, recursive=True)
sdf = SDF()
sdf.add_element(model)
return sdf
def to_sdfbot(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.sdf_robot(robot=robot,
controller_plugin="libRobotControlPlugin.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
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_proto(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.sdf_robot(bot, "libRobotControlPlugin.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
logger.info(str(sdf))
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_proto(body_spec, brain_spec, bot_yaml)
builder = RobotBuilder(BodyBuilder(body_spec), NeuralNetBuilder(brain_spec))
model = builder.sdf_robot(bot, "libRobotControlPlugin.so")
model.translate(Vector3(0, 0, 0.5))
sdf = SDF()
sdf.add_element(model)
print(str(sdf))