def run(self):
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10, 10, 0.1], mass=0)
scale = sim.load_urdf('package://iai_bullet_sim/urdf/scale.urdf',
pos=[0, 0, 0.1],
useFixedBase=1)
for x in range(5):
sim.create_box(extents=[0.2, 0.2, 0.2],
pos=[0, 0, 2 + x * 0.5],
mass=20)
scale.apply_joint_pos_cmds({'plate_lift': 0.2})
scale.enable_joint_sensor('plate_lift')
last_update = time()
while True:
if time() - last_update >= sim.time_step:
sim.update()
print('Joint state:\n {}'.format('\n '.join([
'{:>12}: {}'.format(j, str(s.f))
for j, s in scale.get_sensor_states().items()
])))
last_update = time()
def __init__(self):
temp = open('temp.urdf', 'w')
temp.write(rospy.get_param('robot_description'))
temp.close()
self.sim = BasicSimulator()
self.sim.init()
self.sim.set_tick_rate(rospy.get_param('~sim_frequency', 50))
self.watchdog_period = rospy.get_param('~watchdog_period', 0.1)
self.projection_mode = rospy.get_param('~projection_mode', False)
self.robot = self.sim.load_urdf('temp.urdf', useFixedBase=True)
self.robot.set_joint_positions(rospy.get_param('~start_config', {}))
self.sim.register_plugin(JSPublisher(self.robot))
self.sim.register_plugin(SensorPublisher(self.robot))
self.sim.register_plugin(JointVelocityController(self.robot, watchdog_timeout=self.watchdog_period))
self.srv_server_set_js = rospy.Service('~set_joint_states', SetJointStateSrv, self.srv_set_js)
if self.projection_mode:
try:
use_sim_time = rospy.get_param('/use_sim_time')
if not use_sim_time:
raise KeyError
self.clock_pub = rospy.Publisher('/clock', ClockMsg, queue_size=1, tcp_nodelay=True)
self.time = rospy.Time.now()
self.time_step = rospy.Duration(1.0 / self.tick_rate)
self.proj_sub = rospy.Subscriber('~/projection_command', ProjectionClockMsg, callback=self.proj_callback, queue_size=1)
except KeyError:
raise Exception('Parameter /use_sim_time must be set to "True" use projection mode!')
else:
self.timer = rospy.Timer(rospy.Duration(1.0 / self.sim.tick_rate), self.tick)
def run(self):
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10, 10, 0.1], mass=0)
windmill = sim.load_urdf('package://iai_bullet_sim/urdf/windmill.urdf',
useFixedBase=1)
plugin = SimplePlugin(windmill)
sim.register_plugin(plugin)
windmill.apply_joint_vel_cmds({'wings_rotor': -2})
last_update = time()
while True:
if time() - last_update >= sim.time_step:
windmill.apply_joint_pos_cmds({'head_pan': sin(time())})
sim.update()
last_update = time()
def run(self):
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10, 10, 0.1], mass=0)
suzanne = sim.load_mesh('package://iai_bullet_sim/meshes/suzanne.dae',
pos=[0, 0, 2])
last_update = time()
while True:
if time() - last_update >= sim.time_step:
sim.update()
last_update = time()
def run(self):
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10, 10, 0.1], mass=0)
capsule = sim.create_capsule(radius=0.25,
height=1,
pos=[0, 0, 2],
rot=[0, 1, 0, 0],
mass=10)
last_update = time()
while True:
if time() - last_update >= sim.time_step:
sim.update()
print(str(capsule.pose().position))
last_update = time()
def run(self):
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10, 10, 0.1], mass=0)
windmill = sim.load_urdf('package://iai_bullet_sim/urdf/windmill.urdf',
useFixedBase=1)
windmill.apply_joint_vel_cmds({'wings_rotor': -2})
last_update = time()
while True:
if time() - last_update >= sim.time_step:
windmill.apply_joint_pos_cmds({'head_pan': sin(time())})
sim.update()
print('Joint state:\n {}'.format('\n '.join([
'{:>12}: {}'.format(j, s.position)
for j, s in windmill.joint_state().items()
])))
last_update = time()
def run(self):
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10, 10, 0.1], mass=0)
scale = sim.load_urdf('package://iai_bullet_sim/urdf/scale.urdf',
pos=[0, 0, 0.1],
useFixedBase=1)
for x in range(5):
sim.create_box(extents=[0.2, 0.2, 0.2],
pos=[0, 0, 2 + x * 0.5],
mass=20)
scale.apply_joint_pos_cmds({'plate_lift': 0.2})
scale.enable_joint_sensor('plate_lift')
last_update = time()
while True:
if time() - last_update >= sim.time_step:
sim.update()
contacts = scale.get_contacts(own_link='plate')
print('Contacts with plate:\n {}'.format('\n '.join(
[sim.get_body_id(c.bodyB.bId()) for c in contacts])))
last_update = time()
class Node(object):
def __init__(self):
temp = open('temp.urdf', 'w')
temp.write(rospy.get_param('robot_description'))
temp.close()
self.sim = BasicSimulator()
self.sim.init()
self.sim.set_tick_rate(rospy.get_param('~sim_frequency', 50))
self.watchdog_period = rospy.get_param('~watchdog_period', 0.1)
self.projection_mode = rospy.get_param('~projection_mode', False)
self.robot = self.sim.load_urdf('temp.urdf', useFixedBase=True)
self.robot.set_joint_positions(rospy.get_param('~start_config', {}))
self.sim.register_plugin(JSPublisher(self.robot))
self.sim.register_plugin(SensorPublisher(self.robot))
self.sim.register_plugin(JointVelocityController(self.robot, watchdog_timeout=self.watchdog_period))
self.srv_server_set_js = rospy.Service('~set_joint_states', SetJointStateSrv, self.srv_set_js)
if self.projection_mode:
try:
use_sim_time = rospy.get_param('/use_sim_time')
if not use_sim_time:
raise KeyError
self.clock_pub = rospy.Publisher('/clock', ClockMsg, queue_size=1, tcp_nodelay=True)
self.time = rospy.Time.now()
self.time_step = rospy.Duration(1.0 / self.tick_rate)
self.proj_sub = rospy.Subscriber('~/projection_command', ProjectionClockMsg, callback=self.proj_callback, queue_size=1)
except KeyError:
raise Exception('Parameter /use_sim_time must be set to "True" use projection mode!')
else:
self.timer = rospy.Timer(rospy.Duration(1.0 / self.sim.tick_rate), self.tick)
def tick(self, timer_event):
self.sim.update()
def tick_and_tock(self):
self.sim.pre_update()
self.sim.physics_update()
self.time += self.time_step
cmsg = ClockMsg()
cmsg.clock = self.time
self.clock_pub.publish(cmsg)
self.sim.post_update()
def srv_set_js(self, request):
js_msg = request.state
js = {js_msg.name[x]: js_msg.position[x] for x in range(len(js_msg.name))}
for j in js.keys():
if j not in self.robot.joints:
return SetJointStateSrv.Response(False, 'Can not set position for joint {}, because it is not part of the controlled robot.'.format(j))
self.robot.set_joint_positions(js, True)
self.sim.reset()
return SetJointStateSrv.Response(True, '')
def proj_callback(self, msg):
self.time = copy(msg.time)
while True:
self.tick_and_tock()
if rospy.Time.now() - msg.time >= msg.period:
break
#!/usr/bin/env python
import sys
from time import time
from math import sin
from iai_bullet_sim.basic_simulator import BasicSimulator
if __name__ == '__main__':
if len(sys.argv) < 2:
print('Name of urdf to load required. ROS package URIs are supported.')
else:
sim = BasicSimulator()
sim.init(mode='gui')
floor = sim.create_box(extents=[10,10,0.1], mass=0)
thing = sim.load_urdf(sys.argv[1], useFixedBase=1)
box = sim.create_box(extents=[1,1,1], mass=20, pos=[0,0,10])
last_update = time()
while True:
if time() - last_update >= sim.time_step:
sim.update()
last_update = time()