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43 lines
1.2 KiB
Python
43 lines
1.2 KiB
Python
# -*- coding: utf-8 -*-
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#!/usr/bin/env python
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"""Control a wheeled robot in the air using speech.
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Try to say:
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- turn right/left
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- move/go forward/backward
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- go faster/slower
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- anything else will ask the robot to hover
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"""
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from itertools import count
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import pyrobolearn as prl
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from pyrobolearn.tools.bridges.audio.robots.bridge_speech_wheeled import BridgeSpeechRecognizerDifferentialWheeledRobot
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# create simulator
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sim = prl.simulators.Bullet()
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# create basic world (with a floor and gravity enabled by default)
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world = prl.worlds.BasicWorld(sim)
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# load wheeled robot
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robot = prl.robots.Epuck(sim, position=[0., 0.])
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world.load_robot(robot)
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# load bridge that connects the speech interface with the wheeled robot
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# Note that it will create automatically the Speech Recognizer interface inside the bridge
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bridge = BridgeSpeechRecognizerDifferentialWheeledRobot(robot=robot, interface=None, verbose=True)
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# run simulator
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for t in count():
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# perform a step with the bridge and interface
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bridge.step(update_interface=True)
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# ask the world camera to follow the wheeled robot
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world.follow(robot, distance=2)
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# perform one step in the world
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world.step(sleep_dt=1. / 240)
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