mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-20 13:11:01 +08:00
33 lines
672 B
Python
33 lines
672 B
Python
#!/usr/bin/env python
|
|
"""Load the Quadcopter robotic platform.
|
|
"""
|
|
|
|
import numpy as np
|
|
from itertools import count
|
|
from pyrobolearn.simulators import BulletSim
|
|
from pyrobolearn.worlds import BasicWorld
|
|
from pyrobolearn.robots import Quadcopter
|
|
|
|
# Create simulator
|
|
sim = BulletSim()
|
|
|
|
# create world
|
|
world = BasicWorld(sim)
|
|
|
|
# create robot
|
|
robot = Quadcopter(sim)
|
|
|
|
# print information about the robot
|
|
robot.print_info()
|
|
|
|
rpm = robot.getStationaryRPM()
|
|
print("Stationary RPM: {}".format(rpm))
|
|
v = robot.rpmToRadPerSecond(rpm+20)
|
|
v = [v, -v, v, -v]
|
|
|
|
# run simulation
|
|
for i in count():
|
|
robot.set_joint_velocities(v)
|
|
# step in simulation
|
|
world.step(sleep_dt=1./240)
|