def __init__(self, sim, world):
self.robot = KukaIIWA(sim)
self.world = world
# change the robot visual
self.robot.change_transparency()
self.robot.draw_link_frames(link_ids=[-1, 0])
self.start_pos = np.array([-0.75, 0., 0.75])
self.end_pos = np.array([0.75, 0., 0.75])
self.pid = {'kp': 100, 'kd': 0}
self.ee_id = self.robot.get_end_effector_ids(end_effector=0)
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]
import os
import pickle
from itertools import count
from pyrobolearn.simulators import Bullet
from pyrobolearn.worlds import BasicWorld
from pyrobolearn.robots import KukaIIWA, Body
# Create simulator
sim = Bullet()
# create world
world = BasicWorld(sim)
# create robot
robot = KukaIIWA(sim)
robot.print_info()
# define useful variables for FK
link_id = robot.get_end_effector_ids(end_effector=0)
joint_ids = robot.joints # actuated joint
# load data
with open(os.path.dirname(os.path.abspath(__file__)) + '/data.txt', 'rb') as f:
positions = pickle.load(f)
# set initial joint position
robot.reset_joint_states(q=positions[0])
# draw a sphere at the position of the end-effector
sphere = world.load_visual_sphere(