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
