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34 lines
778 B
Python
34 lines
778 B
Python
#!/usr/bin/env python
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"""Load the WALK-MAN 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 Walkman
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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_sphere([2., 0, 2.], mass=0., color=(1, 0, 0, 1))
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world.load_sphere([2., 1., 2.], mass=0., color=(0, 0, 1, 1))
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# load robot
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robot = Walkman(sim, fixed_base=False, lower_body=False)
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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_leg)
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# run simulator
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for i in count():
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robot.update_joint_slider()
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if i % 60 == 0:
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img = robot.left_camera.get_rgb_image()
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world.step(sleep_dt=1./240)
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