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90 lines
3.0 KiB
Python
90 lines
3.0 KiB
Python
#!/usr/bin/env python
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"""Provide the Aibo robotic platform.
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"""
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import os
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from pyrobolearn.robots.legged_robot import QuadrupedRobot
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__author__ = "Brian Delhaisse"
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__copyright__ = "Copyright 2018, PyRoboLearn"
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__license__ = "GNU GPLv3"
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__version__ = "1.0.0"
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__maintainer__ = "Brian Delhaisse"
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__email__ = "briandelhaisse@gmail.com"
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__status__ = "Development"
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class Aibo(QuadrupedRobot):
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r"""Aibo
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This is the Aibo quadruped dog robot developed by Sony.
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WARNINGS: THE INERTIA MATRICES AND THE POSITION OF COLLISIONS MESHES IN THE URDF NEED TO BE CORRECTED!!
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References:
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- [1] https://github.com/dkotfis/aibo_ros
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"""
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def __init__(self, simulator, position=(0, 0, 0.02), orientation=(0, 0, 0, 1), fixed_base=False, scale=1.,
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urdf=os.path.dirname(__file__) + '/urdfs/aibo/aibo.urdf'):
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"""
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Initialize the Aibo robot.
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Args:
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simulator (Simulator): simulator instance.
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position (np.array[float[3]]): Cartesian world position.
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orientation (np.array[float[4]]): Cartesian world orientation expressed as a quaternion [x,y,z,w].
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fixed_base (bool): if True, the robot base will be fixed in the world.
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scale (float): scaling factor that is used to scale the robot.
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urdf (str): path to the urdf. Do not change it unless you know what you are doing.
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"""
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# check parameters
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if position is None:
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position = (0., 0., 0.02)
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if len(position) == 2: # assume x, y are given
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position = tuple(position) + (0.02,)
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if orientation is None:
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orientation = (0, 0, 0, 1)
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if fixed_base is None:
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fixed_base = False
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super(Aibo, self).__init__(simulator, urdf, position, orientation, fixed_base, scale)
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self.name = 'aibo'
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self.legs = [[self.get_link_ids(link) for link in links if link in self.link_names]
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for links in [['LF_up_leg_rot_y', 'LF_up_leg_rot_x', 'LF_down_leg'],
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['RF_up_leg_rot_y', 'RF_up_leg_rot_x', 'RF_down_leg'],
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['LB_up_leg_rot_y', 'LB_up_leg_rot_x', 'LB_down_leg'],
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['RB_up_leg_rot_y', 'RB_up_leg_rot_x', 'RB_down_leg']]]
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self.feet = [self.get_link_ids(link) for link in ['LF_paw', 'RF_paw', 'LB_paw', 'RB_paw']
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if link in self.link_names]
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# Test
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if __name__ == "__main__":
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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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# 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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# create robot
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robot = Aibo(sim) # , fixed_base=True)
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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.left_front_leg + robot.right_front_leg)
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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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world.step(sleep_dt=1./240)
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