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65 lines
1.6 KiB
Python
65 lines
1.6 KiB
Python
#!/usr/bin/env python
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"""Provide the BB8 robotic platform.
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"""
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import os
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from pyrobolearn.robots.robot import Robot
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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 BB8(Robot):
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r"""BB8 robot
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References:
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[1] https://github.com/eborghi10/BB-8-ROS
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[2] http://www.theconstructsim.com/bb-8-gazebo-model/
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"""
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def __init__(self, simulator, position=(0, 0, 0.4), orientation=(0, 0, 0, 1), fixed_base=False,
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scale=1., urdf=os.path.dirname(__file__) + '/urdfs/bb8/bb8.urdf'):
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# check parameters
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if position is None:
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position = (0., 0., 0.4)
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if len(position) == 2: # assume x, y are given
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position = tuple(position) + (0.4,)
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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(BB8, self).__init__(simulator, urdf, position, orientation, fixed_base, scale)
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self.name = 'bb8'
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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 = BB8(sim)
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# print information about the robot
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robot.print_info()
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for i in count():
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robot.set_joint_velocities([0, -1, 0])
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# step in simulation
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world.step(sleep_dt=1./240)
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