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34 lines
1.0 KiB
Python
34 lines
1.0 KiB
Python
# This file creates a basic world, load each robot that can be found in the PRL framework
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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 implemented_robots
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robot_not_working = set(['icub'])
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print("All the robots (total number of robots = {}): {}".format(len(implemented_robots), implemented_robots))
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# create simulator
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sim = BulletSim()
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# create basic world with floor and gravity
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world = BasicWorld(sim)
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# create one robot at a time
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for i, robot_name in enumerate(implemented_robots):
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if robot_name not in robot_not_working:
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# instantiate the given robot
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robot = world.load_robot(robot_name)
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# print info about the robot
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print("Robot n{}: {}".format(i+1, robot))
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# robot.print_info()
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# run for few moments in the world
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for t in range(250):
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# run one step and sleep a bit
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world.step(sleep_dt=1./240)
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# remove the robot from the world
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world.remove(robot)
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