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33 lines
697 B
Python
33 lines
697 B
Python
#!/usr/bin/env python
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"""Provide the HyQ2Max robot.
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"""
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from itertools import count
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from pyrobolearn.simulators import BulletSim
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from pyrobolearn.worlds import BasicWorld
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from pyrobolearn.robots import HyQ2Max
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# Create simulator
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sim = BulletSim()
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# create world
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world = BasicWorld(sim)
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world.load_japanese_monastery()
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# create robot
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robot = HyQ2Max(sim)
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# print information about the robot
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robot.print_info()
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# Position control using sliders
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# robot.add_joint_slider(robot.getLeftFrontLegIds())
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# run simulator
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for _ in count():
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# robot.update_joint_slider()
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robot.compute_and_draw_com_position()
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robot.compute_and_draw_projected_com_position()
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world.step(sleep_dt=1./240)
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