def spawnPepper(self,
physics_client,
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
spawn_ground_plane=False):
"""
Loads a Pepper model in the simulation
Parameters:
physics_client - The id of the simulated instance in which the
robot is supposed to be spawned
translation - List containing 3 elements, the spawning translation
[x, y, z] in the WORLD frame
quaternions - List containing 4 elements, the spawning rotation as
a quaternion [x, y, z, w] in the WORLD frame
spawn_ground_plane - If True, the pybullet_data ground plane will
be spawned
Returns:
pepper_virtual - A PepperVirtual object, the Pepper simulated
instance
"""
pepper_virtual = PepperVirtual()
if spawn_ground_plane:
self._spawnGroundPlane(physics_client)
pepper_virtual.loadRobot(translation,
quaternion,
physicsClientId=physics_client)
return pepper_virtual
def spawnPepper(self,
physics_client,
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
spawn_ground_plane=False):
"""
Loads a Pepper model in the simulation
Parameters:
physics_client - The id of the simulated instance in which the
robot is supposed to be spawned
translation - List containing 3 elements, the spawning translation
[x, y, z] in the WORLD frame
quaternions - List containing 4 elements, the spawning rotation as
a quaternion [x, y, z, w] in the WORLD frame
spawn_ground_plane - If True, the pybullet_data ground plane will
be spawned
Returns:
pepper - A PepperVirtual object, the Pepper simulated instance
"""
pepper = PepperVirtual()
if spawn_ground_plane:
pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
pybullet.loadMJCF("mjcf/ground_plane.xml",
physicsClientId=physics_client)
pepper.loadRobot(translation,
quaternion,
physicsClientId=physics_client)
return pepper