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

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)