update interfaces, manipulability, robots, world (+add/update corresponding examples)

examples/README.md

@@ -2,8 +2,20 @@
 
 In this folder, you will find different examples on how to use the framework.
 
+Warning: this folder is currently being updated; few files might still have some bugs or not 
+implemented completely. Some other folders will be added in the upcoming days.
+
 You can check the following folders:
+- `worlds`: how to create a world in the simulator, load various objects inside and interact with 
+them, use the camera, and load or generate terrains.
+- `robots`: check how to load a specific robot (biped, quadruped, wheeled, etc) into the world.
+- `interfaces`: the various interfaces (game controllers, webcam, etc) and bridges that you can use.
+- `kinematics`: check how to use forward and inverse kinematics as well as position and velocity control.
+- `manipulability`: check how to use the velocity and dynamic manipulability ellipsoids.
+
+- `states`: how to query the states / observations.
+- `models`: the different learning models that you can use.
+
+- `imitation`: how to use imitation learning with the framework.
 - `gym/cartpole`: policies are trained with different algorithms on the gym Cartpole environment.
-- `robots`: check how to load a specific robot into the world.
-- `states`: how to query the states / observations.
 

examples/interfaces/README.md

@@ -1,4 +1,11 @@
-## Interfaces
+## Interfaces and Bridges
 
 In this folder, you will find examples on what interfaces you can use and on how you can collect the data from them.
-You will also be able to connect an interface with an element of the world (in this case, a robot) using bridges, and see that different bridges can lead to different behaviors while getting the data from the same interface. 
+You will also be able to connect an interface with an element of the world (in this case, a robot) using bridges, 
+and see that different bridges can lead to different behaviors while getting the data from the same interface. 
+
+Here are few examples that depict the various interfaces:
+1. `mouse_keyboard.py`: use the mouse keyboard interface
+2. `webcam.py`: use the webcam interface
+3. `playstation.py`: use the Playstation joystick controller interface
+4. `xbox.py`: use the Xbox joystick controller interface

examples/interfaces/mouse_keyboard.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+"""Load the mouse keyboard interface.
+"""
+
+from itertools import count
+
+import pyrobolearn as prl
+from pyrobolearn.tools.interfaces.mouse_keyboard import MouseKeyboardInterface
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create mouse keyboard interface
+interface = MouseKeyboardInterface(sim)
+
+# run interface
+for _ in count():
+    # perform a step with the interface
+    interface.step()
+
+    # print pressed keys
+    if len(interface.key_down) > 0:
+        print("Keys that are pressed: {}".format(interface.key_down))
+
+    # perform a step with the simulator
+    sim.step(sleep_time=sim.dt)

examples/interfaces/playstation.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+"""Load the Playstation game controller interface
+"""
+
+import time
+from itertools import count
+import argparse
+
+from pyrobolearn.tools.interfaces.controllers.playstation import PS3ControllerInterface, PS4ControllerInterface
+
+# create parser to select the game controller
+parser = argparse.ArgumentParser()
+parser.add_argument('-c', '--controller', help='The Playstation game controller to use (ps3 or ps4)', type=str,
+                    choices=['ps3', 'ps4'], default='ps4')
+args = parser.parse_args()
+
+
+# load corresponding Playstation controller interface
+if args.controller == 'ps3':
+    controller = PS3ControllerInterface(verbose=True)
+elif args.controller == 'ps4':
+    controller = PS4ControllerInterface(verbose=False)
+else:
+    raise NotImplementedError("Unknown game controller")
+
+
+# run controller
+print('Running controller...')
+for _ in count():
+
+    # run one step with the interface
+    controller.run()  # same as `step()` if we are not using threads
+
+    # get the last update and print it
+    b = controller.X
+    print("X: {}".format(b))  # , controller[b]))
+
+    # sleep a bit
+    time.sleep(0.01)

examples/interfaces/xbox.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+"""Load the Xbox game controller interface
+"""
+
+import time
+from itertools import count
+import argparse
+
+from pyrobolearn.tools.interfaces.controllers.xbox import Xbox360ControllerInterface, XboxOneControllerInterface
+
+# create parser to select the game controller
+parser = argparse.ArgumentParser()
+parser.add_argument('-c', '--controller', help='The Xbox game controller to use (xbox one or xbox 360)', type=str,
+                    choices=['360', 'one'], default='one')
+args = parser.parse_args()
+
+
+# load corresponding Xbox controller interface
+if args.controller == '360':
+    controller = Xbox360ControllerInterface(verbose=True)
+elif args.controller == 'one':
+    controller = XboxOneControllerInterface(verbose=True)
+else:
+    raise NotImplementedError("Unknown game controller")
+
+
+# run controller
+print('Running controller...')
+for _ in count():
+
+    # run one step with the interface
+    controller.run()  # same as `step()` if we are not using threads
+
+    # get the last update and print it
+    b = controller.last_updated_button
+    print("Last updated button: {} with value: {}".format(b, controller[b]))
+
+    # sleep a bit
+    time.sleep(0.01)

examples/manipulability/2d_manipulability.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+"""Draw the 2D velocity and force manipulability ellipsoids on the end-effector of a 3-link planar manipulator.
+
+References:
+    [1] "Robotics: Modelling, Planning and Control" (section 3.9), Siciliano et al., 2010
+"""
+
+import time
+# from itertools import count
+import numpy as np
+
+import pyrobolearn as prl
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create world
+world = prl.worlds.BasicWorld(sim)
+
+# create robot
+robot = world.load_robot('manipulator2d')
+robot.reset_joint_states(q=[0.64453457, -1.65045902, -0.31141744])
+
+# change camera view
+world.camera.reset(distance=2, yaw=-np.pi / 2, pitch=-np.pi/2.01)
+
+# draw 2d velocity manipulability ellipsoid
+# print(robot.end_effector_names)
+end_effector_id = robot.get_link_ids('gripper')
+jacobian = robot.get_linear_jacobian(link_id=end_effector_id)
+jjt = robot.get_JJT(jacobian)
+robot.draw_velocity_manipulability_ellipsoid(link_id=end_effector_id, JJT=jjt, color=(0, 1, 0, 0.7))  # green
+robot.draw_force_manipulability_ellipsoid(link_id=end_effector_id, JJT=jjt, color=(1, 0, 0, 0.7))     # red
+
+# TODO: fix bug
+
+time.sleep(10000)
+# run simulator
+# for t in count():
+#     world.step(sleep_dt=1./240)

examples/manipulability/README.md

@@ -2,6 +2,16 @@
 
 We provide examples on how to use manipulability ellipsoids.
 
+Here are a short description of the various examples the user can try:
+1. `2d_manipulability.py`: draw the 2D velocity and force manipulability ellipsoids on the end-effector of a 
+3-link planar manipulator.
+2. `com_manipulability_tracking.py`: track the velocity manipulability ellipsoid of the center of mass of a robot 
+with a fixed base.
+3. `com_manipulability_tracking_with_balance.py`: track the velocity manipulability ellipsoid of the center of mass 
+of a floating-base robot while keeping its balance.
+4. `com_dynamic_manipulability_tracking_with_balance.py`: track the dynamic manipulability ellipsoid of the center 
+of mass of a floating-base robot while keeping its balance.
+
 References:
 - [1] "Robotics: Modelling, Planning and Control", Siciliano et al., 2010
 - [2] "Springer Handbook of Robotics", Siciliano et al., 2008

examples/robots/README.md

@@ -1,5 +1,22 @@
 ## Robot examples
 
-You can try to load different robot by typing `python <robot>.py`.
+More than 60 robots (of various types) are available through `pyrobolearn`.
 
-To turn the camera in the simulator, keep pressing the `ctrl` key and the left button on the mouse, and move this last one.
+Here are the few examples that you can find in this folder:
+1. `load_robot.py <robot_name>`: load the given robot in the world.
+2. `visualize_robot.py <robot_name>`: test different visualization tools that can be used on the robot to show its 
+joint axis, bounding boxes, and others.
+3. `robot_with_sliders.py <robot_name>`: load the given robot in the world and allow you to manipulate the robot's 
+joints with sliders.
+4. `distribute_epucks.py`: distribute several e-pucks in the world and make them move forward.
+5. `quadcopter_controller.py`: move a quadcopter in the air using an Xbox or Playstation game controller.
+6. `robots/<robot>.py`: load the given robot in the simulator by directly instantiating it. Some of these files do 
+more than just loading the robot.
+
+Notes: to turn the camera in the simulator, keep pressing the `ctrl` key and the left button on the mouse, and 
+move this last one.
+
+
+#### What to check next?
+
+Check the `pyrobolearn/examples/interfaces` or `pyrobolearn/examples/kinematics` folder.

examples/robots/distribute_epucks.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+"""Distribute several e-pucks in the world and make them move forward.
+
+You can move in the world using the keyboard and mouse:
+- `ctrl + left click`: rotate the camera
+- `scroll wheel` or `ctrl + right click`: zoom in/out
+- `ctrl + middle click`: move the camera
+- `left click` on an object: if the object has a mass and a collision shape, you can interact with it with the mouse
+- `w`: wireframe (see collision shapes)
+- `g`: show/hide menu
+- `esc`: quit the simulator
+"""
+
+import numpy as np
+from itertools import count
+import argparse
+
+import pyrobolearn as prl
+
+
+# create function for the parser to check the number of robots
+def check(number):
+    """check that the number of robots is between 1 and 100."""
+    number = int(number)
+    if number < 1:
+        number = 1
+    if number > 100:
+        number = 100
+    return number
+
+
+# create parser to select the robot
+parser = argparse.ArgumentParser()
+parser.add_argument('-n', '--number', help='the number of epucks in the world', type=check, default=10)
+args = parser.parse_args()
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create basic world (with a floor and gravity enabled by default)
+world = prl.worlds.BasicWorld(sim, scaling=1)
+
+# specify distribution ranges for position (x,y,z) and orientation (r,p,y)
+low_position, high_position = [-3, -3, 0], [3, 3, 0]  # x,y,z
+low_orientation, high_orientation = [0, 0, -np.pi], [0, 0, np.pi]  # r,p,y
+
+# distribute the epucks in the world
+robots = world.distribute(world.load_robot, size=args.number, position_range=(low_position, high_position),
+                          rpy_range=(low_orientation, high_orientation), return_body=True, robot='epuck')
+
+# run simulator
+for t in count():
+
+    # move each robot forward
+    for robot in robots:
+        robot.drive(speed=5)
+
+    # perform one step in the world
+    world.step(sleep_dt=1. / 240)

examples/robots/load_robot.py

@@ -1,33 +1,44 @@
-# This file creates a basic world, load each robot that can be found in the PRL framework
+#!/usr/bin/env python
+"""Load a robot in a basic world.
 
-from pyrobolearn.simulators import BulletSim
-from pyrobolearn.worlds import BasicWorld
-from pyrobolearn.robots import implemented_robots
+You can move in the world using the keyboard and mouse:
+- `ctrl + left click`: rotate the camera
+- `scroll wheel` or `ctrl + right click`: zoom in/out
+- `ctrl + middle click`: move the camera
+- `left click` on an object: if the object has a mass and a collision shape, you can interact with it with the mouse
+- `w`: wireframe (see collision shapes)
+- `g`: show/hide menu
+- `esc`: quit the simulator
+"""
 
-robot_not_working = set(['icub'])
+from itertools import count
+import argparse
+
+import pyrobolearn as prl
+
+
+# get implemented robots
+robots = prl.robots.implemented_robots
+print("All the robots (total number of robots = {}): {}".format(len(robots), robots))
+
+# create parser to select the robot
+parser = argparse.ArgumentParser()
+parser.add_argument('-r', '--robot', help='the robot to load in the world', type=str,
+                    choices=robots, default='hyq2max')
+args = parser.parse_args()
 
-print("All the robots (total number of robots = {}): {}".format(len(implemented_robots), implemented_robots))
 
 # create simulator
-sim = BulletSim()
+sim = prl.simulators.Bullet()
 
 # create basic world with floor and gravity
-world = BasicWorld(sim)
+world = prl.worlds.BasicWorld(sim)
 
-# create one robot at a time
-for i, robot_name in enumerate(implemented_robots):
-    if robot_name not in robot_not_working:
-        # instantiate the given robot
-        robot = world.load_robot(robot_name)
+# load the robot in the world (note that you can create the robot outside the world (not recommended),
+# and then give it to the `world.load_robot` method to let know the world that a robot was loaded)
+robot = world.load_robot(robot=args.robot, position=[0., 0.])
 
-        # print info about the robot
-        print("Robot n{}: {}".format(i+1, robot))
-        # robot.print_info()
-
-        # run for few moments in the world
-        for t in range(250):
-            # run one step and sleep a bit
-            world.step(sleep_dt=1./240)
-
-        # remove the robot from the world
-        world.remove(robot)
+# run simulator
+for _ in count():
+    # perform one step in the world
+    world.step(sleep_dt=1. / 240)

examples/robots/quadcopter_controller.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+"""Control a quadcopter in the air using an Xbox or Playstation game controller.
+
+how to run:
+```
+$ python quadcopter_controller.py --help                # for help
+$ python quadcopter_controller.py --controller xbox     # to use Xbox game controller
+$ python quadcopter_controller.py --controller ps3      # to use PS3 game controller
+```
+"""
+
+import numpy as np
+from itertools import count
+import argparse
+
+import pyrobolearn as prl
+
+
+# create parser to select the game controller
+parser = argparse.ArgumentParser()
+parser.add_argument('-c', '--controller', help='the game controller to use', type=str,
+                    choices=['xbox', 'ps3'], default='ps3')
+args = parser.parse_args()
+
+
+# load corresponding interface
+# if args.controller == 'xbox':
+#     from pyrobolearn.tools.interfaces.controllers.xbox import Xbox360ControllerInterface as Controller
+# elif args.controller == 'ps3':
+#     from pyrobolearn.tools.interfaces.controllers.playstation import PS3ControllerInterface as Controller
+# else:
+#     raise NotImplementedError("Unknown game controller")
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create basic world (with a floor and gravity enabled by default)
+world = prl.worlds.BasicWorld(sim)
+
+# load quadcopter
+robot = prl.robots.Quadcopter(sim, position=[0., 0., 2.])
+world.load_robot(robot)
+
+# load interface
+# controller = Controller()
+
+# run simulator
+for t in count():
+    # robot.hover()
+    # robot.set_propeller_velocities(velocity)
+    robot.move([1., 1., 1.])
+
+    # follow quadcopter (seen from behind)
+    world.follow(robot, distance=2, yaw=-np.pi / 2)
+
+    # perform one step in the world
+    world.step(sleep_dt=1. / 240)

examples/robots/robot_with_sliders.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python
+"""Manipulate the robot's joints with sliders.
+
+You can move in the world using the keyboard and mouse:
+- `ctrl + left click`: rotate the camera
+- `scroll wheel` or `ctrl + right click`: zoom in/out
+- `ctrl + middle click`: move the camera
+- `left click` on an object: if the object has a mass and a collision shape, you can interact with it with the mouse
+- `w`: wireframe (see collision shapes)
+- `g`: show/hide menu
+- `esc`: quit the simulator
+"""
+
+from itertools import count
+import argparse
+
+import pyrobolearn as prl
+
+
+# create parser to select the robot
+parser = argparse.ArgumentParser()
+parser.add_argument('-r', '--robot', help='the robot to load in the world', type=str,
+                    choices=prl.robots.implemented_robots, default='coman')
+parser.add_argument('-f', '--fixed_base', help='if we should fix the base when the robot has initially a floating '
+                                               'base', type=bool, default=True)
+args = parser.parse_args()
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create basic world with floor and gravity
+world = prl.worlds.BasicWorld(sim)
+
+# load the robot in the world
+robot = world.load_robot(robot=args.robot, position=[0., 0.], fixed_base=args.fixed_base)
+
+# add a slider for each specified joint
+robot.add_joint_slider(joint_ids=robot.joints)
+
+# run simulator
+for _ in count():
+    # update the joint slider
+    robot.update_joint_slider()
+
+    # perform one step in the world
+    world.step(sleep_dt=1. / 240)

examples/robots/robots/aibo.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Aibo
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/allegrohand.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import AllegroHand
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/ant.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Ant
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/atlas.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Atlas
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/ballbot.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Ballbot
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/baxter.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Baxter
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/bb8.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import BB8
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/cartpole.py

@@ -85,12 +85,12 @@ class LQR(object):
 if __name__ == "__main__":
     import numpy as np
     from itertools import count
-    from pyrobolearn.simulators import BulletSim
+    from pyrobolearn.simulators import Bullet
     from pyrobolearn.worlds import World
     from pyrobolearn.robots import CartPole
 
     # Create simulator
-    sim = BulletSim()
+    sim = Bullet()
 
     # create world
     world = World(sim)

examples/robots/robots/cassie.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Cassie
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/centauro.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Centauro
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/cogimon.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Cogimon
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/coman.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Coman
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/crab.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Crab
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/cubli.py

@@ -5,12 +5,12 @@
 import numpy as np
 from itertools import count
 from pyrobolearn.utils.transformation import get_rpy_from_quaternion
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Cubli
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/darwin.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Darwin
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/edo.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Edo
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/epuck.py

@@ -4,12 +4,12 @@
 
 import numpy as np
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Epuck
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/f10_racecar.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import F10Racecar
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/fetch.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Fetch
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/franka.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Franka
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/half_cheetah.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import HalfCheetah
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/hopper.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Hopper
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/hubo.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Hubo
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/humanoid.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Humanoid
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/husky.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Husky
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/hyq.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import HyQ
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/hyq2max.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import HyQ2Max
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/jaco.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Jaco
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/kr5.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import KR5
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/kuka_iiwa.py

@@ -4,12 +4,12 @@
 
 import numpy as np
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import KukaIIWA
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/kuka_lwr.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import KukaLWR
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/laikago.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Laikago
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/littledog.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import LittleDog
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/manipulator2d.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Manipulator2D
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/minitaur.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Minitaur
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/mkz.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import MKZ
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/morphex.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Morphex
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/nao.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Nao
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/opendog.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import OpenDog
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/pepper.py

@@ -3,13 +3,13 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Pepper
 
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/phantomx.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import PhantomX
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/pleurobot.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Pleurobot
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/pr2.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import PR2
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/quadcopter.py

@@ -4,14 +4,14 @@
 
 import numpy as np
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Quadcopter
 from pyrobolearn.utils.units import rpm_to_rad_per_second
 
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)
@@ -24,7 +24,7 @@ robot.print_info()
 
 rpm = robot.get_stationary_rpm()
 print("Stationary RPM: {}".format(rpm))
-v = rpm_to_rad_per_second(rpm+20)
+v = rpm_to_rad_per_second(rpm + 20)
 v = [v, -v, v, -v]
 
 # run simulation

examples/robots/robots/rhex.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Rhex
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/rrbot.py

@@ -4,12 +4,12 @@
 
 import numpy as np
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import RRBot
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)
@@ -103,7 +103,7 @@ J = sim.calculate_jacobian(robot.id, 1, [0., 0., 0.])
 print(np.array(J[0]))
 
 a = robot.get_joint_positions()
-# print(robot.get_jacobian(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]
@@ -125,14 +125,14 @@ for i in range(10000):
     dx = np.array(robot.get_link_world_linear_velocities(linkId))
     tau = robot.calculate_inverse_dynamics(ddq, dq, q)  # Coriolis, centrifugal and gravity compensation
     Jlin = np.array(sim.calculate_jacobian(robot.id, linkId, com_frame)[0])
-    F = K.dot(xdes - x) - D.dot(dx)  # compute cartesian forces
+    F = K.dot(xdes - x) - D.dot(dx)  # evaluate cartesian forces
     # print("force: {}".format(F))
     tau += Jlin.T.dot(F)  # cartesian PD with gravity compensation
     # tau += Jlin.T.dot(- D.dot(dx))  # active compliance
 
     # tau = Jlin.T.dot(F)
 
-    # compute manipulability measure :math:`w = sqrt(det(JJ^T))`
+    # evaluate manipulability measure :math:`w = sqrt(det(JJ^T))`
     Jlin = Jlin[[0, 2], :]
     w = np.sqrt(np.linalg.det(Jlin.dot(Jlin.T)))
     # print("manipulability: {}".format(w))

examples/robots/robots/sawyer.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Sawyer
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/sea_hexapod.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import SEAHexapod
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/sea_snake.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import SEASnake
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/softhand.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import SoftHand
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/swimmer.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Swimmer
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/walker2d.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Walker2D
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/walkman.py

@@ -3,12 +3,12 @@
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import Walkman
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # Create world
 world = BasicWorld(sim)

examples/robots/robots/wam.py

@@ -4,12 +4,12 @@
 
 import numpy as np
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import WAM
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/robots/youbot.py

@@ -5,12 +5,12 @@ These include: YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm
 """
 
 from itertools import count
-from pyrobolearn.simulators import BulletSim
+from pyrobolearn.simulators import Bullet
 from pyrobolearn.worlds import BasicWorld
 from pyrobolearn.robots import YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm
 
 # Create simulator
-sim = BulletSim()
+sim = Bullet()
 
 # create world
 world = BasicWorld(sim)

examples/robots/visualize_robot.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+"""Test different visualization tools that can be used on the robot.
+
+
+Test different visualization tools on a robot. You can notably:
+- render the robot semi-transparent
+- draw the robot center of mass and the projected center of mass
+- draw the center of mass of each link
+- draw the link frames
+- draw the joint axis
+- draw bounding boxes around links
+- for legged robots:
+    - draw ground reference points such as the ZMP, COP, FRI, and CMP
+    - draw the support polygon
+    - draw friction cones
+- draw velocity and dynamic manipulability ellipsoids
+
+
+You can move in the world using the keyboard and mouse:
+- `ctrl + left click`: rotate the camera
+- `scroll wheel` or `ctrl + right click`: zoom in/out
+- `ctrl + middle click`: move the camera
+- `left click` on an object: if the object has a mass and a collision shape, you can interact with it with the mouse
+- `w`: wireframe (see collision shapes)
+- `g`: show/hide menu
+- `esc`: quit the simulator
+"""
+
+import time
+from itertools import count
+import argparse
+
+import pyrobolearn as prl
+
+
+# create parser to select the robot
+robots = ['coman', 'hyq2max']  # prl.robots.implemented_robots
+parser = argparse.ArgumentParser()
+parser.add_argument('-r', '--robot', help='the robot to load in the world', type=str,
+                    choices=robots, default='hyq2max')
+args = parser.parse_args()
+
+
+# create simulator
+sim = prl.simulators.Bullet()
+
+# create basic world with floor and gravity
+world = prl.worlds.BasicWorld(sim)
+
+# load the robot in the world
+robot = world.load_robot(robot=args.robot, position=[0., 0.])
+
+# move the simulation a bit forward (such that the robot touches the floor)
+for _ in range(100):
+    world.step()
+
+# change visualization
+robot.change_transparency()
+robot.draw_link_coms()
+robot.draw_link_frames()
+robot.draw_bounding_boxes(link_ids=-1)
+
+robot.draw_friction_cone(floor_id=world.floor_id)
+robot.draw_support_polygon(floor_id=world.floor_id, lifetime=0)
+
+robot.compute_and_draw_com_position()
+robot.compute_and_draw_projected_com_position()
+# robot.draw_cop(cop=world.floor_id)
+# robot.draw_zmp(zmp=world.floor_id)
+# robot.draw_cmp(cmp=world.floor_id)
+
+time.sleep(10000)
+# run simulator
+# for t in count():
+#     # perform one step in the world
+#     world.step(sleep_dt=1. / 240)

examples/worlds/README.md

@@ -14,3 +14,8 @@ and with collisions) that are movable, fixed, or are moving.
 4. `load_robot.py`: load a robot in a basic world and distribute randomly few objects on the floor.
 5. `load_heightmap.py`: load a terrain from a heightmap (png) and load a robot on it.
 6. `generate_terrain.py`: generate a terrain and distribute randomly few objects on the terrain.
+
+
+#### What to check next?
+
+Check the `pyrobolearn/examples/robots` folder.