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)