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update robots + add shadow hand + units converter

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This commit is contained in:
Brian Delhaisse
2019-04-28 01:26:49 +02:00
parent 782175419a
commit 8eac2c7bea
91 changed files with 5812 additions and 140 deletions
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examples/robots/quadcopter.py
+4 -2
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@@ -7,6 +7,8 @@ from itertools import count
from pyrobolearn.simulators import BulletSim
from pyrobolearn.worlds import BasicWorld
from pyrobolearn.robots import Quadcopter
from pyrobolearn.utils.units import rpm_to_rad_per_second
# Create simulator
sim = BulletSim()
@@ -20,9 +22,9 @@ robot = Quadcopter(sim)
# print information about the robot
robot.print_info()
rpm = robot.getStationaryRPM()
rpm = robot.get_stationary_rpm()
print("Stationary RPM: {}".format(rpm))
v = robot.rpmToRadPerSecond(rpm+20)
v = rpm_to_rad_per_second(rpm+20)
v = [v, -v, v, -v]
# run simulation
examples/robots/rrbot.py
+4 -3
View File
@@ -2,6 +2,7 @@
"""Load the RRBot robotic platform.
"""
import numpy as np
from itertools import count
from pyrobolearn.simulators import BulletSim
from pyrobolearn.worlds import BasicWorld
@@ -93,7 +94,7 @@ raw_input('press enter')
print(robot.get_link_names())
force = np.array([1., 0., 0.])
pos = np.array([0., 0., 0.])
sim.apply_external_force(robot.id, 1, force, pos, flags=p.LINK_FRAME) # link_frame = 1
sim.apply_external_force(robot.id, 1, force, pos, frame=1) # link_frame = 1, world_frame = 2
slider = sim.add_user_debug_parameter('force', -1000., 1000., 0)
@@ -102,7 +103,7 @@ J = sim.calculate_jacobian(robot.id, 1, [0., 0., 0.])
print(np.array(J[0]))
a = robot.get_joint_positions()
# print(robot.getJacobianMatrix(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list
# print(robot.get_jacobian(1, np.array([0.,0.]))) # TODO: need to convert numpy array to list
linkId = 2
com_frame = robot.get_link_states(linkId)[2]
@@ -144,7 +145,7 @@ for i in range(10000):
force = np.array([0., 0., 1.])
else:
force = np.array([0., 0., 0.])
sim.apply_external_force(robot.id, linkId, force, pos, flags=p.LINK_FRAME) # p.LINK_FRAME = 1
sim.apply_external_force(robot.id, linkId, force, pos, frame=1) # p.LINK_FRAME = 1, p.WORLD_FRAME = 2
# robot.update_joint_slider()
world.step(sleep_dt=1./240)