qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Class Index
-
+
-
+
| Controller (qibullet.controller) | NaoRosWrapper (qibullet.ros_wrapper) | RobotPosture (qibullet.robot_posture) | SimulationManager (qibullet.simulation_manager) | ||
| NaoVirtual (qibullet.nao_virtual) | RobotVirtual (qibullet.robot_virtual) | ||||
| BaseController (qibullet.base_controller) |
| RomeoPosture (qibullet.robot_posture) | FsrHandler (qibullet.fsr) | Link (qibullet.link) | PepperRosWrapper (qibullet.ros_wrapper) |
|
+
|
| PepperVirtual (qibullet.pepper_virtual) | ||||
| BaseController (qibullet.base_controller) |
| Sensor (qibullet.sensor) | ||||
| Joint (qibullet.joint) | RomeoRosWrapper (qibullet.ros_wrapper) | ||||
| PepperBaseController (qibullet.base_controller) | RomeoVirtual (qibullet.romeo_virtual) | ||||
| Camera (qibullet.camera) | PepperPosture (qibullet.robot_posture) | RosWrapper (qibullet.ros_wrapper) | ||||
| CameraDepth (qibullet.camera) | Laser (qibullet.laser) | PepperRosWrapper (qibullet.ros_wrapper) |
| |||
| CameraResolution (qibullet.camera) | Link (qibullet.link) | PepperVirtual (qibullet.pepper_virtual) | ||||
| CameraRgb (qibullet.camera) |
|
| Sensor (qibullet.sensor) | GravityHelper (qibullet.helpers) | NaoFsr (qibullet.fsr) | SimulationManager (qibullet.simulation_manager) | +
| NaoPosture (qibullet.robot_posture) | RobotModule (qibullet.robot_module) | ||||
| Camera (qibullet.camera) | NaoRosWrapper (qibullet.ros_wrapper) | RobotPosture (qibullet.robot_posture) | ||||
| CameraDepth (qibullet.camera) | Imu (qibullet.imu) | NaoVirtual (qibullet.nao_virtual) | RobotVirtual (qibullet.robot_virtual) | |||
| CameraResolution (qibullet.camera) |
|
| RomeoPosture (qibullet.robot_posture) | |||
| CameraRgb (qibullet.camera) | RomeoRosWrapper (qibullet.ros_wrapper) | |||||
| Controller (qibullet.controller) | Joint (qibullet.joint) | PepperBaseController (qibullet.base_controller) | RomeoVirtual (qibullet.romeo_virtual) | |||
|
| PepperPosture (qibullet.robot_posture) | RosWrapper (qibullet.ros_wrapper) | |||
| NaoPosture (qibullet.robot_posture) | RobotModule (qibullet.robot_module) | |||||
| Fsr (qibullet.fsr) | Laser (qibullet.laser) | |||||
diff --git a/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html b/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html index 7e9df6f..de5571f 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html +++ b/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1base__controller_1_1BaseController.html b/docs/api/classqibullet_1_1base__controller_1_1BaseController.html index 2b7a6a5..d1a9755 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1BaseController.html +++ b/docs/api/classqibullet_1_1base__controller_1_1BaseController.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html index 7cb83d4..4eadb79 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html +++ b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Public Member Functions inherited from qibullet.sensor.Sensor Public Member Functions inherited from qibullet.robot_module.RobotModulePublic Attributes | |||||
| module_process | |||||
| Public Attributes inherited from qibullet.sensor.Sensor | |||||
| + | frequency | ||||
| Public Attributes inherited from qibullet.robot_module.RobotModule | |||||
| robot_model | |||||
| def qibullet.camera.Camera.getFps | +( | ++ | self | ) | ++ |
+
+Returns the framerate of the camera in number of frames per second. +This method simply wraps the @getFrequency method of Sensor, and will +return the frequency of the camera in Hz + +Returns: + fps - The number of frames per second for the camera (frequency of + the camera in Hz) ++
@@ -413,7 +452,7 @@
Member Function Documentation
| - | resolution | +resolution, | + +|
| + | + | + | fps = 30.0 |
| @@ -440,10 +485,12 @@ | |||
|
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
|
@@ -102,16 +102,20 @@
|||
| camera_link (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| far_plane (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| frame (defined in qibullet.camera.CameraDepth) | qibullet.camera.CameraDepth | ||
| getCameraId(self) | qibullet.camera.Camera | ||
| getCameraLink(self) | qibullet.camera.Camera | ||
| frequency (defined in qibullet.sensor.Sensor) | qibullet.sensor.Sensor | ||
| getCameraId(self) | qibullet.camera.Camera | ||
| getCameraLink(self) | qibullet.camera.Camera | ||
| getFps(self) | qibullet.camera.Camera | ||
| getFrame(self) | qibullet.camera.Camera | ||
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | ||
| getResolution(self) | qibullet.camera.Camera | ||
| getRobotModel(self) | qibullet.robot_module.RobotModule | ||
| HANDLES_LOCK (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static | |
| hfov (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| intrinsic_matrix (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| isActive(self) | qibullet.camera.Camera | ||
| getFrequency(self) | qibullet.sensor.Sensor | ||
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | ||
| getResolution(self) | qibullet.camera.Camera | ||
| getRobotModel(self) | qibullet.robot_module.RobotModule | ||
| HANDLES_LOCK (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static | |
| hfov (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| intrinsic_matrix (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| isActive(self) | qibullet.camera.Camera | ||
| isAlive(self) | qibullet.robot_module.RobotModule | ||
| K_720p (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static | |
| K_Q720p (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static | |
| K_QQ720p (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static | |
| resolution (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| resolution_lock (defined in qibullet.camera.Camera) | qibullet.camera.Camera | ||
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | ||
| subscribe(self, resolution) | qibullet.camera.Camera | ||
| setFrequency(self, frequency) | qibullet.sensor.Sensor | ||
| subscribe(self, resolution, fps=30.0) | qibullet.camera.Camera | ||
| qibullet::sensor::Sensor.subscribe(self) | qibullet.sensor.Sensor | ||
| unsubscribe(self) | qibullet.camera.Camera | ||
| vfov (defined in qibullet.camera.Camera) | qibullet.camera.Camera |
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Public Member Functions inherited from qibullet.camera.Camera Public Member Functions inherited from qibullet.sensor.Sensor Public Member Functions inherited from qibullet.robot_module.RobotModulePublic Attributes | ||
| module_process | ||
| Public Attributes inherited from qibullet.sensor.Sensor | ||
| + | frequency | |
| Public Attributes inherited from qibullet.robot_module.RobotModule | ||
| robot_model | ||
|
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
|
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraResolution.html b/docs/api/classqibullet_1_1camera_1_1CameraResolution.html
index 4f0cd22..4514a0d 100644
--- a/docs/api/classqibullet_1_1camera_1_1CameraResolution.html
+++ b/docs/api/classqibullet_1_1camera_1_1CameraResolution.html
@@ -24,7 +24,7 @@
||
|
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
|
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html b/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html
index 4175a0c..f5d60dd 100644
--- a/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html
+++ b/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html
@@ -24,7 +24,7 @@
||
|
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
|
@@ -102,16 +102,20 @@
||
| camera_link (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| far_plane (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| frame (defined in qibullet.camera.CameraRgb) | qibullet.camera.CameraRgb | |
| getCameraId(self) | qibullet.camera.Camera | |
| getCameraLink(self) | qibullet.camera.Camera | |
| frequency (defined in qibullet.sensor.Sensor) | qibullet.sensor.Sensor | |
| getCameraId(self) | qibullet.camera.Camera | |
| getCameraLink(self) | qibullet.camera.Camera | |
| getFps(self) | qibullet.camera.Camera | |
| getFrame(self) | qibullet.camera.Camera | |
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | |
| getResolution(self) | qibullet.camera.Camera | |
| getRobotModel(self) | qibullet.robot_module.RobotModule | |
| HANDLES_LOCK (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static |
| hfov (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| intrinsic_matrix (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| isActive(self) | qibullet.camera.Camera | |
| getFrequency(self) | qibullet.sensor.Sensor | |
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | |
| getResolution(self) | qibullet.camera.Camera | |
| getRobotModel(self) | qibullet.robot_module.RobotModule | |
| HANDLES_LOCK (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static |
| hfov (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| intrinsic_matrix (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| isActive(self) | qibullet.camera.Camera | |
| isAlive(self) | qibullet.robot_module.RobotModule | |
| K_720p (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static |
| K_Q720p (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static |
| K_QQ720p (defined in qibullet.camera.Camera) | qibullet.camera.Camera | static |
| resolution (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| resolution_lock (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| subscribe(self, resolution) | qibullet.camera.Camera | |
| setFrequency(self, frequency) | qibullet.sensor.Sensor | |
| subscribe(self, resolution, fps=30.0) | qibullet.camera.Camera | |
| qibullet::sensor::Sensor.subscribe(self) | qibullet.sensor.Sensor | |
| unsubscribe(self) | qibullet.camera.Camera | |
| vfov (defined in qibullet.camera.Camera) | qibullet.camera.Camera | |
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Public Member Functions inherited from qibullet.camera.Camera Public Member Functions inherited from qibullet.sensor.Sensor Public Member Functions inherited from qibullet.robot_module.RobotModulePublic Attributes | ||
| module_process | ||
| Public Attributes inherited from qibullet.sensor.Sensor | ||
| + | frequency | |
| Public Attributes inherited from qibullet.robot_module.RobotModule | ||
| robot_model | ||
|
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
|
@@ -97,9 +97,10 @@
||
| __init__(self, robot_model, physics_client) | qibullet.controller.Controller | |
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | |
| getRobotModel(self) | qibullet.robot_module.RobotModule | |
| module_process (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| physics_client (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| isAlive(self) | qibullet.robot_module.RobotModule | |
| module_process (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| physics_client (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
diff --git a/docs/api/classqibullet_1_1controller_1_1Controller.html b/docs/api/classqibullet_1_1controller_1_1Controller.html index c50dab3..f401971 100644 --- a/docs/api/classqibullet_1_1controller_1_1Controller.html +++ b/docs/api/classqibullet_1_1controller_1_1Controller.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Additional Inherited Members | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+ 
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.fsr.Fsr Member List
+
+
+
+
+This is the complete list of members for qibullet.fsr.Fsr, including all inherited members.
+| __init__(self, robot_model, fsr_link, physicsClientId=0) | qibullet.fsr.Fsr | |
| qibullet::sensor::Sensor.__init__(self, robot_model, physics_client) | qibullet.sensor.Sensor | |
| frequency (defined in qibullet.sensor.Sensor) | qibullet.sensor.Sensor | |
| fsr_link (defined in qibullet.fsr.Fsr) | qibullet.fsr.Fsr | |
| getFrequency(self) | qibullet.sensor.Sensor | |
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | |
| getRobotModel(self) | qibullet.robot_module.RobotModule | |
| getValue(self) | qibullet.fsr.Fsr | |
| isAlive(self) | qibullet.robot_module.RobotModule | |
| module_process (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| physics_client (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| setFrequency(self, frequency) | qibullet.sensor.Sensor | |
| subscribe(self) | qibullet.sensor.Sensor | |
| unsubscribe(self) | qibullet.sensor.Sensor |
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1fsr_1_1Fsr.html b/docs/api/classqibullet_1_1fsr_1_1Fsr.html
new file mode 100644
index 0000000..e655cbc
--- /dev/null
+++ b/docs/api/classqibullet_1_1fsr_1_1Fsr.html
@@ -0,0 +1,245 @@
+
+
+
+
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+
+
+
+
+
+
+
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+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.fsr.Fsr Class Reference
+
+
+
+
+
+
+Inheritance diagram for qibullet.fsr.Fsr:
+
+
+
+[legend]
+
+Collaboration diagram for qibullet.fsr.Fsr:
+
+
+
+[legend]
++Public Member Functions | |
| def | __init__ (self, robot_model, fsr_link, physicsClientId=0) |
| def | getValue (self) |
| Public Member Functions inherited from qibullet.sensor.Sensor | |
| def | __init__ (self, robot_model, physics_client) |
| def | subscribe (self) |
| def | unsubscribe (self) |
| def | getFrequency (self) |
| def | setFrequency (self, frequency) |
| Public Member Functions inherited from qibullet.robot_module.RobotModule | |
| def | __init__ (self, robot_model, physics_client) |
| def | getRobotModel (self) |
| def | getPhysicsClientId (self) |
| def | isAlive (self) |
+Public Attributes | |
| + | fsr_link |
| Public Attributes inherited from qibullet.sensor.Sensor | |
| + | frequency |
| Public Attributes inherited from qibullet.robot_module.RobotModule | |
| + | robot_model |
| + | physics_client |
| + | module_process |
Detailed Description
+Class representing a virtual Force Sensitive Resistor (FSR) +
Constructor & Destructor Documentation
+ +
+
+
+
+
+
| def qibullet.fsr.Fsr.__init__ | +( | ++ | self, | +
| + | + | + | robot_model, | +
| + | + | + | fsr_link, | +
| + | + | + | physicsClientId = 0 |
+
| + | ) | ++ |
+
+Constructor + +Parameters: + robot_model - The pybullet model of the robot + fsr_link - The Link object corresponding to the link the FSR is + attached to + physicsClientId - The id of the simulated instance in the + corresponding robot exists ++
Member Function Documentation
+ +
+
+
+
+
+
| def qibullet.fsr.Fsr.getValue | +( | ++ | self | ) | ++ |
+
+Returns the weight detected on the Z axis of the sensor. The return +value is given in kg (computed from the measured force on the Z axis +and the gravity of the simulation) + +WARNING: The returned value is an approximation. Good practice: instead +of the value itself, take into account the variation of the value, in +order to detect any change at foot contact level. ++
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1fsr_1_1FsrHandler-members.html b/docs/api/classqibullet_1_1fsr_1_1FsrHandler-members.html
new file mode 100644
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+
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+
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+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.fsr.FsrHandler Member List
+
+
+
+
+This is the complete list of members for qibullet.fsr.FsrHandler, including all inherited members.
+| __init__(self, fsr_dict) | qibullet.fsr.FsrHandler | |
| fsr_dict (defined in qibullet.fsr.FsrHandler) | qibullet.fsr.FsrHandler | |
| getTotalValue(self, fsr_names) | qibullet.fsr.FsrHandler | |
| getValue(self, fsr_name) | qibullet.fsr.FsrHandler | |
| getValues(self, fsr_names) | qibullet.fsr.FsrHandler |
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1fsr_1_1FsrHandler.html b/docs/api/classqibullet_1_1fsr_1_1FsrHandler.html
new file mode 100644
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+
+
+
+
+
+
+
+
+
+
+
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+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.fsr.FsrHandler Class Reference
+
+
+
+
+
++Public Member Functions | |
| def | __init__ (self, fsr_dict) |
| def | getValue (self, fsr_name) |
| def | getValues (self, fsr_names) |
| def | getTotalValue (self, fsr_names) |
+Public Attributes | |
| + | fsr_dict |
Detailed Description
+Class defining a tool to handle multiple FSRs on the feet of a bipedal +robot +
Constructor & Destructor Documentation
+ +
+
+
+
+
+
| def qibullet.fsr.FsrHandler.__init__ | +( | ++ | self, | +
| + | + | + | fsr_dict | +
| + | ) | ++ |
+
+Constructor. The fsr sensors are passed to the handler through the
+fsr_dict , with the following structure:
+
+{'fsr_name': Fsr, ...}
+
+fsr_name being the name of the fsr (string, for instance
+NaoFsr.LFOOT_FL or "LFsrFL_frame"), and Fsr being the associated object
+
+Parameters:
+ fsr_dict - Dict containing the FSRs of the robot
+
+Member Function Documentation
+ +
+
+
+
+
+
+
| def qibullet.fsr.FsrHandler.getTotalValue | +( | ++ | self, | +
| + | + | + | fsr_names | +
| + | ) | ++ |
+
+Returns the total weight value (the sum of all FSRs corresponding to +the names passed to the method). If no names are specified, the method +will return 0.0 + +Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + +Returns: + total_weight - The sum of all values for the corresponding FSRs ++
+
+
+
+
+
+
| def qibullet.fsr.FsrHandler.getValue | +( | ++ | self, | +
| + | + | + | fsr_name | +
| + | ) | ++ |
+
+Returns the weight detected on the Z axis of the specified FSR. The +return value is given in kg (computed from the measured force on the Z +axis and the gravity of the simulation). If the required fsr does not +exist, the method will raise a pybullet error + +WARNING: The returned value is an approximation. Good practice: instead +of the value itself, take into account the variation of the value, in +order to detect any change at foot contact level. + +Parameters: + fsr_name - The name of the FSR, as a string (for instance + NaoFsr.LFOOT_FL or "LFsrFL_frame") + +Returns: + fsr_value - The measured value ++
+
+
+
+
+
| def qibullet.fsr.FsrHandler.getValues | +( | ++ | self, | +
| + | + | + | fsr_names | +
| + | ) | ++ |
+
+Returns all of the FSR weight values for the FSRs corresponding to the +passed names. If the list of passed names is empty, the method will +return an empty list + +Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + +Returns: + fsr_values - The measured values for the corresponding FSRs, as a + List ++
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1fsr_1_1Fsr__coll__graph.map b/docs/api/classqibullet_1_1fsr_1_1Fsr__coll__graph.map
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+
diff --git a/docs/api/classqibullet_1_1fsr_1_1Fsr__coll__graph.md5 b/docs/api/classqibullet_1_1fsr_1_1Fsr__coll__graph.md5
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--- /dev/null
+++ b/docs/api/classqibullet_1_1fsr_1_1Fsr__coll__graph.md5
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+8a11da98eda4c6674db66291f97e9a03
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--- /dev/null
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@@ -0,0 +1,4 @@
+
diff --git a/docs/api/classqibullet_1_1fsr_1_1Fsr__inherit__graph.md5 b/docs/api/classqibullet_1_1fsr_1_1Fsr__inherit__graph.md5
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--- /dev/null
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@@ -0,0 +1 @@
+8a11da98eda4c6674db66291f97e9a03
\ No newline at end of file
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diff --git a/docs/api/classqibullet_1_1fsr_1_1NaoFsr-members.html b/docs/api/classqibullet_1_1fsr_1_1NaoFsr-members.html
new file mode 100644
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+++ b/docs/api/classqibullet_1_1fsr_1_1NaoFsr-members.html
@@ -0,0 +1,115 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.fsr.NaoFsr Member List
+
+
+
+
+This is the complete list of members for qibullet.fsr.NaoFsr, including all inherited members.
+| LFOOT (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| LFOOT_FL (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| LFOOT_FR (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| LFOOT_RL (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| LFOOT_RR (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| RFOOT (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| RFOOT_FL (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| RFOOT_FR (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| RFOOT_RL (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
| RFOOT_RR (defined in qibullet.fsr.NaoFsr) | qibullet.fsr.NaoFsr | static |
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1fsr_1_1NaoFsr.html b/docs/api/classqibullet_1_1fsr_1_1NaoFsr.html
new file mode 100644
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--- /dev/null
+++ b/docs/api/classqibullet_1_1fsr_1_1NaoFsr.html
@@ -0,0 +1,141 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.fsr.NaoFsr Class Reference
+
+
+Detailed Description
+Enum for NAO fsrs +
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1helpers_1_1GravityHelper-members.html b/docs/api/classqibullet_1_1helpers_1_1GravityHelper-members.html
new file mode 100644
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--- /dev/null
+++ b/docs/api/classqibullet_1_1helpers_1_1GravityHelper-members.html
@@ -0,0 +1,109 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.helpers.GravityHelper Member List
+
+
+
+
+This is the complete list of members for qibullet.helpers.GravityHelper, including all inherited members.
+| getGravity(cls, physics_client) | qibullet.helpers.GravityHelper | |
| GRAVITY_DICT (defined in qibullet.helpers.GravityHelper) | qibullet.helpers.GravityHelper | static |
| removeGravity(cls, physics_client) | qibullet.helpers.GravityHelper | |
| updateGravity(cls, physics_client, gravity) | qibullet.helpers.GravityHelper |
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1helpers_1_1GravityHelper.html b/docs/api/classqibullet_1_1helpers_1_1GravityHelper.html
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--- /dev/null
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@@ -0,0 +1,232 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.helpers.GravityHelper Class Reference
+
+
+
+
+
++Public Member Functions | |
| def | getGravity (cls, physics_client) |
| def | updateGravity (cls, physics_client, gravity) |
| def | removeGravity (cls, physics_client) |
+Static Public Attributes | |
| + | GRAVITY_DICT = dict() |
Detailed Description
+INTERNAL CLASS, Only the qibullet API should use it. To update the gravity, +SimulationManager objects should be used +
Member Function Documentation
+ +
+
+
+
+
+
+
| def qibullet.helpers.GravityHelper.getGravity | +( | ++ | cls, | +
| + | + | + | physics_client | +
| + | ) | ++ |
+
+INTERNAL METHOD, static getter for the gravity. This method should only +be used by other components of the qiBullet API (the sensors for +instance). If the required simulated instance doesn't exist, the method +will return None + +Parameters: + physics_client - The id of the desired simulated instance + +Returns: + gravity - The gravity vector as a List of 3 floats ++
+
+
+
+
+
+
| def qibullet.helpers.GravityHelper.removeGravity | +( | ++ | cls, | +
| + | + | + | physics_client | +
| + | ) | ++ |
+
+INTERNAL METHOD, Removes a gravity value from the gravity dict. To be +called when the simulated instance is killed. If the required simulated +instance does not exist, the method won't do anything + +Parameters: + physics_client - The id of the simulated instance being removed ++
+
+
+
+
+
| def qibullet.helpers.GravityHelper.updateGravity | +( | ++ | cls, | +
| + | + | + | physics_client, | +
| + | + | + | gravity | +
| + | ) | ++ |
+
+INTERNAL METHOD, Updates (or add) a gravity value in the gravity dict + +Parameters: + physics_client - The id of the simulated instance in which the + gravity is updated + gravity - The gravity vector update (List of 3 floats) ++
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu-members.html b/docs/api/classqibullet_1_1imu_1_1Imu-members.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,125 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.imu.Imu Member List
+
+
+
+This is the complete list of members for qibullet.imu.Imu, including all inherited members.
++Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu.html b/docs/api/classqibullet_1_1imu_1_1Imu.html
new file mode 100644
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--- /dev/null
+++ b/docs/api/classqibullet_1_1imu_1_1Imu.html
@@ -0,0 +1,348 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+|
+ qiBullet
+ 1.4.3
+
+ Bullet-based python simulation for SoftBank Robotics' robots.
+ |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+qibullet.imu.Imu Class Reference
+
+
+
+
+
+
+Inheritance diagram for qibullet.imu.Imu:
+
+
+
+[legend]
+
+Collaboration diagram for qibullet.imu.Imu:
+
+
+
+[legend]
++Public Member Functions | |
| def | __init__ (self, robot_model, imu_link, frequency, physicsClientId=0) |
| def | subscribe (self) |
| def | unsubscribe (self) |
| def | getGyroscopeValues (self) |
| def | getAccelerometerValues (self) |
| def | getValues (self) |
| Public Member Functions inherited from qibullet.sensor.Sensor | |
| def | __init__ (self, robot_model, physics_client) |
| def | subscribe (self) |
| def | unsubscribe (self) |
| def | getFrequency (self) |
| def | setFrequency (self, frequency) |
| Public Member Functions inherited from qibullet.robot_module.RobotModule | |
| def | __init__ (self, robot_model, physics_client) |
| def | getRobotModel (self) |
| def | getPhysicsClientId (self) |
| def | isAlive (self) |
+Public Attributes | |
| + | imu_link |
| + | angular_velocity |
| + | linear_acceleration |
| + | values_lock |
| + | module_process |
| Public Attributes inherited from qibullet.sensor.Sensor | |
| + | frequency |
| Public Attributes inherited from qibullet.robot_module.RobotModule | |
| + | robot_model |
| + | physics_client |
| + | module_process |
Detailed Description
+Class representing a virtual inertial unit +
Constructor & Destructor Documentation
+ +
+
+
+
+
+
| def qibullet.imu.Imu.__init__ | +( | ++ | self, | +
| + | + | + | robot_model, | +
| + | + | + | imu_link, | +
| + | + | + | frequency, | +
| + | + | + | physicsClientId = 0 |
+
| + | ) | ++ |
+
+Constructor. If the specified frequency is not a strictly positive int +or float, the constructor will raise a pybullet error + +Parameters: + robot_model - The pybullet model of the robot + imu_link - The Link object corresponding to the link the IMU is + attached to + frequency - The frequency of the IMU, in Hz + physicsClientId - The id of the simulated instance in which the + IMU should be spawned ++
Member Function Documentation
+ +
+
+
+
+
+
+
| def qibullet.imu.Imu.getAccelerometerValues | +( | ++ | self | ) | ++ |
+
+Returns the linear acceleration of the IMU in m/s^2 in the +world frame + +Returns: + linear_acceleration - The linear acceleration in m/s^2 ++
+
+
+
+
+
+
| def qibullet.imu.Imu.getGyroscopeValues | +( | ++ | self | ) | ++ |
+
+Returns the angular velocity of the IMU in rad/s in the +world frame + +Returns: + angular_velocity - The angular velocity in rad/s ++
+
+
+
+
+
+
| def qibullet.imu.Imu.getValues | +( | ++ | self | ) | ++ |
+
+Returns the values of the gyroscope and the accelerometer of the IMU +(angular_velocity, linear_acceleration) in the world frame + +Returns: + angular_velocity - The angular velocity values in rad/s + linear_acceleration - The linear acceleration values in m/s^2 ++
+
+
+
+
+
+
| def qibullet.imu.Imu.subscribe | +( | ++ | self | ) | ++ |
+
+Subscribe to the IMU, activating the IMU scan process ++
+
+
+
+
+
| def qibullet.imu.Imu.unsubscribe | +( | ++ | self | ) | ++ |
+
+Unsubscribe from the IMU, deactivating the IMU scan process ++
+Generated by +
+ 1.8.11
+
+
+
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.map b/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.map
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,4 @@
+
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.md5 b/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.md5
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--- /dev/null
+++ b/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.md5
@@ -0,0 +1 @@
+ce9ed3237cfd019b272d912935c31e26
\ No newline at end of file
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.png b/docs/api/classqibullet_1_1imu_1_1Imu__coll__graph.png
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--- /dev/null
+++ b/docs/api/classqibullet_1_1imu_1_1Imu__inherit__graph.map
@@ -0,0 +1,4 @@
+
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu__inherit__graph.md5 b/docs/api/classqibullet_1_1imu_1_1Imu__inherit__graph.md5
new file mode 100644
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--- /dev/null
+++ b/docs/api/classqibullet_1_1imu_1_1Imu__inherit__graph.md5
@@ -0,0 +1 @@
+ce9ed3237cfd019b272d912935c31e26
\ No newline at end of file
diff --git a/docs/api/classqibullet_1_1imu_1_1Imu__inherit__graph.png b/docs/api/classqibullet_1_1imu_1_1Imu__inherit__graph.png
new file mode 100644
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diff --git a/docs/api/classqibullet_1_1joint_1_1Joint-members.html b/docs/api/classqibullet_1_1joint_1_1Joint-members.html
index e9d97fc..d7f8f00 100644
--- a/docs/api/classqibullet_1_1joint_1_1Joint-members.html
+++ b/docs/api/classqibullet_1_1joint_1_1Joint-members.html
@@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
This is the complete list of members for qibullet.laser.Laser, including all inherited members.
diff --git a/docs/api/classqibullet_1_1laser_1_1Laser.html b/docs/api/classqibullet_1_1laser_1_1Laser.html index 2df3aac..e97bab4 100644 --- a/docs/api/classqibullet_1_1laser_1_1Laser.html +++ b/docs/api/classqibullet_1_1laser_1_1Laser.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Public Member Functions | |
| def | __init__ (self, robot_model, laser_id, physicsClientId=0, display=False) |
| def | isActive (self) |
| def | __init__ (self, robot_model, laser_id, frequency=DEFAULT_FREQUENCY, display=False, physicsClientId=0) |
| def | subscribe (self) |
| def | unsubscribe (self) |
| Public Member Functions inherited from qibullet.sensor.Sensor | |
| def | __init__ (self, robot_model, physics_client) |
| def | subscribe (self) |
| def | unsubscribe (self) |
| def | getFrequency (self) |
| def | setFrequency (self, frequency) |
| Public Member Functions inherited from qibullet.robot_module.RobotModule | |
| def | __init__ (self, robot_model, physics_client) |
| def | getPhysicsClientId (self) |
| def | isAlive (self) |
diff --git a/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html b/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html index abb4252..8aa803f 100644 --- a/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html +++ b/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Member Function Documentation
[x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - -Returns: - boolean - True if the method ran correctly, False otherwise diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html b/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html index bf528fc..1f90dfc 100644 --- a/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html +++ b/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html @@ -24,7 +24,7 @@qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html b/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html index 75af8ea..39a90dd 100644 --- a/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html +++ b/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Public Attributes | |||||
| def qibullet.robot_module.RobotModule.isAlive | +( | ++ | self | ) | ++ |
+
+Check the activity status of the module_process thread + +Returns: + boolean - True if the process is still alive, false otherwise ++
diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.map b/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.map index a5036a6..fa0c0da 100644 --- a/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.map +++ b/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.map @@ -1,10 +1,12 @@ diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.md5 b/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.md5 index c74a80d..4f02832 100644 --- a/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.md5 +++ b/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.md5 @@ -1 +1 @@ -93015f73fb1631be20b2b468cb1c2b16 \ No newline at end of file +6e7a15f114dc610b7a89126d1181ff3f \ No newline at end of file diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.png b/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.png index f3342b1..d34b089 100644 Binary files a/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.png and b/docs/api/classqibullet_1_1robot__module_1_1RobotModule__inherit__graph.png differ diff --git a/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html b/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html index ae79da3..2eabc60 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html b/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html index 1834d44..9cff8ac 100644 --- a/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html +++ b/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Member Function Documentation
+ +
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getCameraFps | +( | ++ | self, | +
| + | + | + | handle | +
| + | ) | ++ |
+
+Returns the framerate of the camera associated to the specified handle. +Be advised that the subscribeCamera method needs to be called +beforehand, otherwise a pybullet error will be raised. + +Parameters: + handle - the handle retrieved when subscribing to the camera + +Returns: + fps - The framerate of the camera (frequency of the camera in Hz) ++
@@ -413,6 +476,208 @@
Member Function Documentation
+
+
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getFsrHandler | +( | ++ | self | ) | ++ |
+
+Returns the FSR handler of the robot, as a FsrHandler object. If the +robot doesn't have a FSR handler, the method will return None + +Returns: + fsr_handler - The FSR handler of the robot as a FsrHandler object, + None if the robot doesn't possess a FSR handler ++
+
+
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getFsrValue | +( | ++ | self, | +
| + | + | + | fsr_name | +
| + | ) | ++ |
+
+Returns the weight detected on the Z axis of the specified FSR. The +return value is given in kg (computed from the measured force on the Z +axis and the gravity of the simulation). If the required fsr does not +exist, or if no FSR handler has been defined for the robot, the method +will raise a pybullet error + +WARNING: The returned value is an approximation. Good practice: instead +of the value itself, take into account the variation of the value, in +order to detect any change at foot contact level. + +Parameters: + fsr_name - The name of the FSR, as a string (for instance + NaoFsr.LFOOT_FL or "LFsrFL_frame") + +Returns: + fsr_value - The measured value ++
+
+
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getFsrValues | +( | ++ | self, | +
| + | + | + | fsr_names | +
| + | ) | ++ |
+
+Returns all of the FSR weight values for the FSRs corresponding to the +passed names. If the list of passed names is empty, the method will +return an empty list. If one of the required FSR does not exist, or if +no FSR handler has been defined for the robot, the method will raise a +pybullet error + +Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + +Returns: + fsr_values - The measured values for the corresponding FSRs, as a + List ++
+
+
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getImu | +( | ++ | self | ) | ++ |
+
+Returns the IMU of the robot, as an Imu object. If the robot doesn't +have an inertial unit, the method will return None + +Returns: + imu - The IMU of the robot as an Imu object, None if the robot + doesn't possess an IMU ++
+
+
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getImuAccelerometerValues | +( | ++ | self | ) | ++ |
+
+Returns the linear acceleration of the IMU in m/s^2 in the world frame. +If the robot doesn't have an inertial unit, the method will raise a +pybullet error. + +One should subscribe to the IMU before calling this method (otherwise, +the acceleration will constantly be [0, 0, 0]) + +Returns: + linear_acceleration - The linear acceleration in m/s^2 ++
+
+
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getImuGyroscopeValues | +( | ++ | self | ) | ++ |
+
+Returns the angular velocity of the IMU in rad/s in the world frame. If +the robot doesn't have an inertial unit, the method will raise a +pybullet error. + +One should subscribe to the IMU before calling this method (otherwise, +the speed will constantly be [0, 0, 0]) + +Returns: + angular_velocity - The angular velocity in rad/s ++
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getImuValues | +( | ++ | self | ) | ++ |
+
+Returns the values of the gyroscope and the accelerometer of the IMU +(angular_velocity, linear_acceleration) in the world frame. If the +robot doesn't have an inertial unit, the method will raise a pybullet +error. + +One should subscribe to the IMU before calling this method (otherwise, +the acceleration and speed will constantly be [0, 0, 0], [0, 0, 0]) + +Returns: + angular_velocity - The angular velocity values in rad/s + linear_acceleration - The linear acceleration values in m/s^2 ++
@@ -576,6 +841,44 @@
Member Function Documentation
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.getTotalFsrValues | +( | ++ | self, | +
| + | + | + | fsr_names | +
| + | ) | ++ |
+
+Returns the total weight value (the sum of all FSRs corresponding to +the names passed to the method). If no names are specified, the method +will return 0.0. If one of the required FSR does not exist, or if +no FSR handler has been defined for the robot, the method will raise a +pybullet error + +Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + +Returns: + total_weight - The sum of all values for the corresponding FSRs ++
@@ -658,9 +961,6 @@
Member Function Documentation
[x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - -Returns: - boolean - True if the method ran correctly, False otherwiseMember Function Documentation
- +| - | resolution = Camera.K_QVGA |
+ resolution = Camera.K_QVGA, |
+
+ |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| + | + | + | fps = 30.0 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| @@ -753,12 +1059,51 @@ |
| def qibullet.robot_virtual.RobotVirtual.subscribeImu | +( | ++ | self, | +
| + | + | + | frequency = None |
+
| + | ) | ++ |
+
+Subscribe to the Inertial Unit of the robot. If the robot doesn't have +an inertial unit, the method will raise a pybullet error. + +This method starts the background process collecting the Imu data, and +should be called before trying to access to the Imu data + +Parameters: + frequency - The desired frequency for the IMU, in Hz. If the + variable is not specified, the frequency value used when creating + the Imu object will be used. The value should be specified as an + int or a float ++
@@ -793,6 +1138,27 @@
Member Function Documentation
+
+
+
+
| def qibullet.robot_virtual.RobotVirtual.unsubscribeImu | +( | ++ | self | ) | ++ |
+
+Unsubscribe from the Inertial Unit of the robot. If the robot doesn't +have an inertial unit, the method will raise a pybullet error. + +This method stops the background process collecting the Imu data, and +should be called when the Imu data are not useful anymore ++
diff --git a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html index bb70575..05d6c8a 100644 --- a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html +++ b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html index e1ea406..fd634f2 100644 --- a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html +++ b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Public Attributes inherited from qibullet.robot_virtual.RobotVirtualMember Function Documentation
[x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - -Returns: - boolean - True if the method ran correctly, False otherwiseqiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
This is the complete list of members for qibullet.sensor.Sensor, including all inherited members.
| __init__(self, robot_model, physics_client) | qibullet.sensor.Sensor | |
| frequency (defined in qibullet.sensor.Sensor) | qibullet.sensor.Sensor | |
| getFrequency(self) | qibullet.sensor.Sensor | |
| getPhysicsClientId(self) | qibullet.robot_module.RobotModule | |
| getRobotModel(self) | qibullet.robot_module.RobotModule | |
| module_process (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| physics_client (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| isAlive(self) | qibullet.robot_module.RobotModule | |
| module_process (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| physics_client (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| robot_model (defined in qibullet.robot_module.RobotModule) | qibullet.robot_module.RobotModule | |
| setFrequency(self, frequency) | qibullet.sensor.Sensor | |
| subscribe(self) | qibullet.sensor.Sensor | |
| unsubscribe(self) | qibullet.sensor.Sensor |
diff --git a/docs/api/classqibullet_1_1sensor_1_1Sensor.html b/docs/api/classqibullet_1_1sensor_1_1Sensor.html index e1d7c59..1962d8b 100644 --- a/docs/api/classqibullet_1_1sensor_1_1Sensor.html +++ b/docs/api/classqibullet_1_1sensor_1_1Sensor.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qibullet.sensor.Sensor Class Reference
Public Member Functions inherited from qibullet.robot_module.RobotModule-Additional Inherited Members | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
+Public Attributes | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| + | frequency | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Public Attributes inherited from qibullet.robot_module.RobotModule | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| robot_model | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| def qibullet.sensor.Sensor.getFrequency | +( | ++ | self | ) | ++ |
+
+Returns the frequency of the sensor + +Returns: + frequency - The frequency in Hz (or None if the frequency is not + defined) ++
+
+
+
+
+
+
| def qibullet.sensor.Sensor.setFrequency | +( | ++ | self, | +
| + | + | + | frequency | +
| + | ) | ++ |
+
+Sets the frequency of the sensor. The expected value should be strictly +positive int or float, otherwise the method will raise a pybullet error + +Parameters: + frequency - The frequency of the sensor in Hz ++
+
+
+
+
+
+
| def qibullet.sensor.Sensor.subscribe | +( | ++ | self | ) | ++ |
+
+ABSTRACT METHOD, Has to be redefined in the daughter classes if the +sensor uses a subscribing system ++
+
diff --git a/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.map b/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.map
index 96c61f8..0a993a1 100644
--- a/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.map
+++ b/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.map
@@ -1,7 +1,9 @@
diff --git a/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.md5 b/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.md5
index 8e3fb63..757bd1c 100644
--- a/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.md5
+++ b/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.md5
@@ -1 +1 @@
-be3331386a9004576157705eb83986cc
\ No newline at end of file
+7509fda7ef7a30c76ebcc73018127493
\ No newline at end of file
diff --git a/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.png b/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.png
index 1bdb620..f21c521 100644
Binary files a/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.png and b/docs/api/classqibullet_1_1sensor_1_1Sensor__inherit__graph.png differ
diff --git a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html
index 3e03a4d..3e6d200 100644
--- a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html
+++ b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html
@@ -24,7 +24,7 @@
+
+
+
| def qibullet.sensor.Sensor.unsubscribe | +( | ++ | self | ) | ++ |
+
ABSTRACT METHOD, Has to be redefined in the daughter classes if the +sensor uses a subscribing system
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
This is the complete list of members for qibullet.simulation_manager.SimulationManager, including all inherited members.
| __init__(self) | qibullet.simulation_manager.SimulationManager | |
| launchSimulation(self, gui=True, use_shared_memory=False) | qibullet.simulation_manager.SimulationManager | |
| removeNao(self, nao_virtual) | qibullet.simulation_manager.SimulationManager | |
| removePepper(self, pepper_virtual) | qibullet.simulation_manager.SimulationManager | |
| removeRomeo(self, romeo_virtual) | qibullet.simulation_manager.SimulationManager | |
| resetSimulation(self, physics_client) | qibullet.simulation_manager.SimulationManager | |
| getGravity(self, physics_client) | qibullet.simulation_manager.SimulationManager | |
| launchSimulation(self, gui=True, use_shared_memory=False, auto_step=True) | qibullet.simulation_manager.SimulationManager | |
| removeNao(self, nao_virtual) | qibullet.simulation_manager.SimulationManager | |
| removePepper(self, pepper_virtual) | qibullet.simulation_manager.SimulationManager | |
| removeRomeo(self, romeo_virtual) | qibullet.simulation_manager.SimulationManager | |
| resetSimulation(self, physics_client) | qibullet.simulation_manager.SimulationManager | |
| setGravity(self, physics_client, gravity) | qibullet.simulation_manager.SimulationManager | |
| setLightPosition(self, physics_client, light_position) | qibullet.simulation_manager.SimulationManager | |
| spawnNao(self, physics_client, translation=[0, quaternion=[0, spawn_ground_plane=False) | qibullet.simulation_manager.SimulationManager | |
| spawnPepper(self, physics_client, translation=[0, quaternion=[0, spawn_ground_plane=False) | qibullet.simulation_manager.SimulationManager | |
| spawnRomeo(self, physics_client, translation=[0, quaternion=[0, spawn_ground_plane=False) | qibullet.simulation_manager.SimulationManager | |
| stopSimulation(self, physics_client) | qibullet.simulation_manager.SimulationManager | |
| stepSimulation(self, physics_client) | qibullet.simulation_manager.SimulationManager | |
| stopSimulation(self, physics_client) | qibullet.simulation_manager.SimulationManager |
diff --git a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html index c847ec4..a728ffc 100644 --- a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html +++ b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html @@ -24,7 +24,7 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
Member Function Documentation
- + +
+
+
+
+
+
| def qibullet.simulation_manager.SimulationManager.getGravity | +( | ++ | self, | +
| + | + | + | physics_client | +
| + | ) | ++ |
+
+Gets the gravity of a simulated instance. If the specified simulated +instance doesn't exist, the method will return None + +Parameters: + physics_client - The id of the required simulated instance ++
| - | use_shared_memory = False |
+ use_shared_memory = False, |
+
+ ||||||||||||||
| + | + | + | auto_step = True |
|||||||||||||
| @@ -184,6 +227,10 @@ |
| def qibullet.simulation_manager.SimulationManager.setGravity | +( | ++ | self, | +
| + | + | + | physics_client, | +
| + | + | + | gravity | +
| + | ) | ++ |
+
+Sets the gravity for a simulated instance. By default (when spawning a +simulated instance) the gravity is set to [0.0, 0.0, -9.81] + +Parameters: + physics_client - The id of the simulated instance in which the + gravity is to be updated + gravity - The new gravity vector, as a List of 3 floats (in m/s^2) ++
@@ -338,7 +424,7 @@
Member Function Documentation
-
Set the position of the GUI's light (does not work in DIRECT mode)
+Sets the position of the GUI's light (does not work in DIRECT mode)
Parameters:
light_position - List containing the 3D positions [x, y, z] along
@@ -521,6 +607,36 @@ Member Function Documentation
+
+
+
+
| def qibullet.simulation_manager.SimulationManager.stepSimulation | +( | ++ | self, | +
| + | + | + | physics_client | +
| + | ) | ++ |
+
+Steps the simulated instance corresponding to the physics_client id + +Parameters: + physics_client - The id of the simulated instance to be stepped ++
diff --git a/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html b/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html
index 1f199bc..9cfe80f 100644
--- a/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html
+++ b/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html
@@ -24,7 +24,7 @@
diff --git a/docs/api/functions.html b/docs/api/functions.html
index fa51fa3..8823f3b 100644
--- a/docs/api/functions.html
+++ b/docs/api/functions.html
@@ -24,7 +24,7 @@
@@ -117,8 +117,11 @@
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
qiBullet
- 1.4.2
+ 1.4.3
Bullet-based python simulation for SoftBank Robotics' robots.
- _ -
-
, qibullet.camera.CameraResolution
, qibullet.camera.CameraRgb
, qibullet.controller.Controller
+, qibullet.fsr.Fsr
+, qibullet.fsr.FsrHandler
+, qibullet.imu.Imu
, qibullet.joint.Joint
-, qibullet.laser.Laser
+, qibullet.laser.Laser
, qibullet.link.Link
, qibullet.nao_virtual.NaoVirtual
, qibullet.pepper_virtual.PepperVirtual
@@ -140,6 +143,9 @@
- getAccelerometerValues() +: qibullet.imu.Imu +
- getAnglesPosition()
: qibullet.nao_virtual.NaoVirtual
, qibullet.pepper_virtual.PepperVirtual
@@ -155,6 +161,9 @@
- g -
- getCamera() : qibullet.robot_virtual.RobotVirtual +
- getCameraFps() +: qibullet.robot_virtual.RobotVirtual +
- getCameraFrame() : qibullet.robot_virtual.RobotVirtual @@ -168,13 +177,47 @@
- getCameraResolution() : qibullet.robot_virtual.RobotVirtual +
- getFps() +: qibullet.camera.Camera +
- getFrame() : qibullet.camera.Camera +
- getFrequency() +: qibullet.sensor.Sensor +
- getFrontLaserValue() : qibullet.laser.Laser , qibullet.pepper_virtual.PepperVirtual +
- getFsrHandler() +: qibullet.robot_virtual.RobotVirtual + +
- getFsrValue() +: qibullet.robot_virtual.RobotVirtual + +
- getFsrValues() +: qibullet.robot_virtual.RobotVirtual + +
- getGravity() +: qibullet.helpers.GravityHelper +, qibullet.simulation_manager.SimulationManager + +
- getGyroscopeValues() +: qibullet.imu.Imu + +
- getImu() +: qibullet.robot_virtual.RobotVirtual + +
- getImuAccelerometerValues() +: qibullet.robot_virtual.RobotVirtual + +
- getImuGyroscopeValues() +: qibullet.robot_virtual.RobotVirtual + +
- getImuValues() +: qibullet.robot_virtual.RobotVirtual +
- getIndex()
: qibullet.joint.Joint
, qibullet.link.Link
@@ -235,9 +278,23 @@
- g -
+ - getTotalFsrValues() +: qibullet.robot_virtual.RobotVirtual + +
- getTotalValue() +: qibullet.fsr.FsrHandler +
- getUpperLimit() : qibullet.joint.Joint +
- getValue() +: qibullet.fsr.Fsr +, qibullet.fsr.FsrHandler + +
- getValues() +: qibullet.fsr.FsrHandler +, qibullet.imu.Imu +
- goToPosture()
: qibullet.nao_virtual.NaoVirtual
, qibullet.pepper_virtual.PepperVirtual
@@ -249,7 +306,9 @@
- g -
- isActive() : qibullet.camera.Camera -, qibullet.laser.Laser + +
- isAlive() +: qibullet.robot_module.RobotModule
- isPostureName()
: qibullet.robot_posture.RobotPosture
@@ -262,7 +321,7 @@
- i -
- launchSimulation() -: qibullet.simulation_manager.SimulationManager +: qibullet.simulation_manager.SimulationManager
- launchWrapper()
: qibullet.ros_wrapper.NaoRosWrapper
@@ -292,6 +351,9 @@
- m -
- removeGravity() +: qibullet.helpers.GravityHelper +
- removeNao() : qibullet.simulation_manager.SimulationManager @@ -314,6 +376,12 @@
- r -
-
+
- s -
+ - setFrequency() +: qibullet.sensor.Sensor + +
- setGravity() +: qibullet.simulation_manager.SimulationManager +
- setLightPosition() : qibullet.simulation_manager.SimulationManager @@ -340,6 +408,9 @@
- spawnRomeo() : qibullet.simulation_manager.SimulationManager +
- stepSimulation() +: qibullet.simulation_manager.SimulationManager +
- stopMove()
: qibullet.base_controller.PepperBaseController
, qibullet.pepper_virtual.PepperVirtual
@@ -351,11 +422,16 @@
- s -
- subscribe() -: qibullet.camera.Camera +: qibullet.camera.Camera +, qibullet.imu.Imu , qibullet.laser.Laser +, qibullet.sensor.Sensor
- subscribeCamera() -: qibullet.robot_virtual.RobotVirtual +: qibullet.robot_virtual.RobotVirtual + +
- subscribeImu() +: qibullet.robot_virtual.RobotVirtual
- subscribeLaser()
: qibullet.pepper_virtual.PepperVirtual
@@ -366,14 +442,22 @@
- s -
- unsubscribe() : qibullet.camera.Camera +, qibullet.imu.Imu , qibullet.laser.Laser +, qibullet.sensor.Sensor
- unsubscribeCamera() : qibullet.robot_virtual.RobotVirtual +
- unsubscribeImu() +: qibullet.robot_virtual.RobotVirtual +
- unsubscribeLaser() : qibullet.pepper_virtual.PepperVirtual +
- updateGravity() +: qibullet.helpers.GravityHelper +
- getAccelerometerValues() +: qibullet.imu.Imu +
- getAnglesPosition()
: qibullet.nao_virtual.NaoVirtual
, qibullet.pepper_virtual.PepperVirtual
@@ -155,6 +161,9 @@
- g -
- getCamera() : qibullet.robot_virtual.RobotVirtual +
- getCameraFps() +: qibullet.robot_virtual.RobotVirtual +
- getCameraFrame() : qibullet.robot_virtual.RobotVirtual @@ -168,13 +177,47 @@
- getCameraResolution() : qibullet.robot_virtual.RobotVirtual +
- getFps() +: qibullet.camera.Camera +
- getFrame() : qibullet.camera.Camera +
- getFrequency() +: qibullet.sensor.Sensor +
- getFrontLaserValue() : qibullet.laser.Laser , qibullet.pepper_virtual.PepperVirtual +
- getFsrHandler() +: qibullet.robot_virtual.RobotVirtual + +
- getFsrValue() +: qibullet.robot_virtual.RobotVirtual + +
- getFsrValues() +: qibullet.robot_virtual.RobotVirtual + +
- getGravity() +: qibullet.helpers.GravityHelper +, qibullet.simulation_manager.SimulationManager + +
- getGyroscopeValues() +: qibullet.imu.Imu + +
- getImu() +: qibullet.robot_virtual.RobotVirtual + +
- getImuAccelerometerValues() +: qibullet.robot_virtual.RobotVirtual + +
- getImuGyroscopeValues() +: qibullet.robot_virtual.RobotVirtual + +
- getImuValues() +: qibullet.robot_virtual.RobotVirtual +
- getIndex()
: qibullet.joint.Joint
, qibullet.link.Link
@@ -235,9 +278,23 @@
- g -
+ - getTotalFsrValues() +: qibullet.robot_virtual.RobotVirtual + +
- getTotalValue() +: qibullet.fsr.FsrHandler +
- getUpperLimit() : qibullet.joint.Joint +
- getValue() +: qibullet.fsr.Fsr +, qibullet.fsr.FsrHandler + +
- getValues() +: qibullet.fsr.FsrHandler +, qibullet.imu.Imu +
- goToPosture()
: qibullet.nao_virtual.NaoVirtual
, qibullet.pepper_virtual.PepperVirtual
@@ -249,7 +306,9 @@
- g -
- isActive() : qibullet.camera.Camera -, qibullet.laser.Laser + +
- isAlive() +: qibullet.robot_module.RobotModule
- isPostureName()
: qibullet.robot_posture.RobotPosture
@@ -262,7 +321,7 @@
- i -
- launchSimulation() -: qibullet.simulation_manager.SimulationManager +: qibullet.simulation_manager.SimulationManager
- launchWrapper()
: qibullet.ros_wrapper.NaoRosWrapper
@@ -292,6 +351,9 @@
- m -
- removeGravity() +: qibullet.helpers.GravityHelper +
- removeNao() : qibullet.simulation_manager.SimulationManager @@ -314,6 +376,12 @@
- r -
-
+
- s -
+ - setFrequency() +: qibullet.sensor.Sensor + +
- setGravity() +: qibullet.simulation_manager.SimulationManager +
- setLightPosition() : qibullet.simulation_manager.SimulationManager @@ -340,6 +408,9 @@
- spawnRomeo() : qibullet.simulation_manager.SimulationManager +
- stepSimulation() +: qibullet.simulation_manager.SimulationManager +
- stopMove()
: qibullet.base_controller.PepperBaseController
, qibullet.pepper_virtual.PepperVirtual
@@ -351,11 +422,16 @@
- s -
- subscribe() -: qibullet.camera.Camera +: qibullet.camera.Camera +, qibullet.imu.Imu , qibullet.laser.Laser +, qibullet.sensor.Sensor
- subscribeCamera() -: qibullet.robot_virtual.RobotVirtual +: qibullet.robot_virtual.RobotVirtual + +
- subscribeImu() +: qibullet.robot_virtual.RobotVirtual
- subscribeLaser()
: qibullet.pepper_virtual.PepperVirtual
@@ -366,14 +442,22 @@
- s -
- unsubscribe() : qibullet.camera.Camera +, qibullet.imu.Imu , qibullet.laser.Laser +, qibullet.sensor.Sensor
- unsubscribeCamera() : qibullet.robot_virtual.RobotVirtual +
- unsubscribeImu() +: qibullet.robot_virtual.RobotVirtual +
- unsubscribeLaser() : qibullet.pepper_virtual.PepperVirtual +
- updateGravity() +: qibullet.helpers.GravityHelper +
- u -
Cqibullet.camera.CameraResolution Cqibullet.joint.Joint Cqibullet.link.Link ▼Cqibullet.robot_module.RobotModule ▼Cqibullet.controller.Controller ▼Cqibullet.base_controller.BaseController Cqibullet.base_controller.PepperBaseController ▼Cqibullet.sensor.Sensor ▼Cqibullet.camera.Camera Cqibullet.camera.CameraDepth Cqibullet.camera.CameraRgb Cqibullet.laser.Laser ▼Cqibullet.robot_posture.RobotPosture Cqibullet.robot_posture.NaoPosture Cqibullet.robot_posture.PepperPosture Cqibullet.robot_posture.RomeoPosture ▼Cqibullet.robot_virtual.RobotVirtual Cqibullet.nao_virtual.NaoVirtual Cqibullet.pepper_virtual.PepperVirtual Cqibullet.romeo_virtual.RomeoVirtual ▼Cqibullet.ros_wrapper.RosWrapper Cqibullet.ros_wrapper.NaoRosWrapper Cqibullet.ros_wrapper.PepperRosWrapper Cqibullet.ros_wrapper.RomeoRosWrapper Cqibullet.simulation_manager.SimulationManager Cqibullet.fsr.FsrHandler Cqibullet.helpers.GravityHelper Cqibullet.joint.Joint Cqibullet.link.Link Cqibullet.fsr.NaoFsr ▼Cqibullet.robot_module.RobotModule ▼Cqibullet.controller.Controller ▼Cqibullet.base_controller.BaseController Cqibullet.base_controller.PepperBaseController ▼Cqibullet.sensor.Sensor ▼Cqibullet.camera.Camera Cqibullet.camera.CameraDepth Cqibullet.camera.CameraRgb Cqibullet.fsr.Fsr Cqibullet.imu.Imu Cqibullet.laser.Laser ▼Cqibullet.robot_posture.RobotPosture Cqibullet.robot_posture.NaoPosture Cqibullet.robot_posture.PepperPosture Cqibullet.robot_posture.RomeoPosture ▼Cqibullet.robot_virtual.RobotVirtual Cqibullet.nao_virtual.NaoVirtual Cqibullet.pepper_virtual.PepperVirtual Cqibullet.romeo_virtual.RomeoVirtual ▼Cqibullet.ros_wrapper.RosWrapper Cqibullet.ros_wrapper.NaoRosWrapper Cqibullet.ros_wrapper.PepperRosWrapper Cqibullet.ros_wrapper.RomeoRosWrapper Cqibullet.simulation_manager.SimulationManager 
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/api/search/all_0.js b/docs/api/search/all_0.js
index 8a40479..7f22be8 100644
--- a/docs/api/search/all_0.js
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index 032f79f..4eefac2 100644
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## Example scripts -* [Basic usage of the PepperVirtual class](pepper_basic.py) -* [Joint debug display, letting the user change joint's positions with cursors (for the Pepper, Nao and Romeo robots)](robot_joint_control.py) +* [Basic usage of the PepperVirtual class, postures and cameras](pepper_basic.py) +* [Manual simulation stepping and joint debug display, letting the user change joint's positions with cursors (for the Pepper, Nao and Romeo robots)](robot_joint_control.py) * [Script launching multiple simulation instances](multi_simulation.py) * [Script using several simulation instances to compute the error on the joint positions](pepper_joints_error.py) * [Basic usage of the ROS wrappers (bridge between qibullet and ROS)](robot_ros_test.py) * [Script allowing a simulated model to mimic a real robot's movements](pepper_shadowing.py) * [Basic usage of Pepper's lasers](pepper_laser.py) +* [Basic usage of a robot's Imu](robot_imu.py) +* [Basic usage of a NAO's FSRs](nao_fsr.py) +* [Example with gravity manipulation](lunar_gravity.py) * [Script spawning a virtual NAO and changing the position of the simulation's light source](light_position.py) diff --git a/examples/lunar_gravity.py b/examples/lunar_gravity.py new file mode 100644 index 0000000..e60e950 --- /dev/null +++ b/examples/lunar_gravity.py @@ -0,0 +1,23 @@ +import sys +import time +from qibullet import SimulationManager +from qibullet import NaoVirtual + + +if __name__ == "__main__": + simulation_manager = SimulationManager() + client = simulation_manager.launchSimulation(gui=True) + + # Set a lunar gravity for the instance. The gravity of the instance can be + # retrieved with the getGravity method + simulation_manager.setGravity(client, [0.0, 0.0, -1.62]) + + # Spawn a nao robot + nao = simulation_manager.spawnNao(client, spawn_ground_plane=True) + + if (sys.version_info > (3, 0)): + input("Press any key to stop the simulation") + else: + raw_input("Press any key to stop the simulation") + + simulation_manager.stopSimulation(client) diff --git a/examples/nao_fsr.py b/examples/nao_fsr.py new file mode 100644 index 0000000..c89119d --- /dev/null +++ b/examples/nao_fsr.py @@ -0,0 +1,40 @@ +import time +from qibullet import SimulationManager +from qibullet import NaoVirtual +from qibullet import NaoFsr + + +if __name__ == "__main__": + simulation_manager = SimulationManager() + client = simulation_manager.launchSimulation(gui=True) + nao = simulation_manager.spawnNao(client, spawn_ground_plane=True) + + # Alternative solution, get the FsrHandler of the robot: + # fsr_handler = nao.getFsrHandler + + try: + while True: + # Get the FSR value of the front left FSR of NAO's left foot + value = nao.getFsrValue(NaoFsr.LFOOT_FL) + # Get the FSR value of the rear right FSR of NAO's right foot + value = nao.getFsrValue(NaoFsr.RFOOT_RR) + + # Get all of the values of the FSRs of NAO's left foot + values = nao.getFsrValues(NaoFsr.LFOOT) + + # Get the total weight value on the FSRs of NAO's right foot + total_weight = nao.getTotalFsrValues(NaoFsr.RFOOT) + print("Total weight on the right foot: " + str(total_weight)) + + # Alternative solution: + # fsr_handler.getValue(NaoFsr.LFOOT_FL) + # fsr_handler.getValue(NaoFsr.RFOOT_RR) + # fsr_handler.getValues(NaoFsr.LFOOT) + # fsr_handler.getTotalValue(NaoFsr.RFOOT) + + time.sleep(0.5) + + except KeyboardInterrupt: + pass + finally: + simulation_manager.stopSimulation(client) diff --git a/examples/pepper_basic.py b/examples/pepper_basic.py index 448c1c2..7721dae 100644 --- a/examples/pepper_basic.py +++ b/examples/pepper_basic.py @@ -5,6 +5,7 @@ import time from qibullet import SimulationManager from qibullet import PepperVirtual +from qibullet import Camera def main(): @@ -18,15 +19,34 @@ def main(): time.sleep(1) pepper.goToPosture("StandZero", 0.6) time.sleep(1) - handle = pepper.subscribeCamera(PepperVirtual.ID_CAMERA_BOTTOM) + + # Subscribe to the top RGB camera in QVGA (default value, specified here + # for more clarity) and 15fps + handle_top = pepper.subscribeCamera( + PepperVirtual.ID_CAMERA_TOP, + resolution=Camera.K_QVGA, + fps=15.0) + + # Same process for the bottom camera + handle_bottom = pepper.subscribeCamera( + PepperVirtual.ID_CAMERA_BOTTOM, + resolution=Camera.K_QVGA, + fps=15.0) try: while True: - img = pepper.getCameraFrame(handle) - cv2.imshow("bottom camera", img) + img_top = pepper.getCameraFrame(handle_top) + img_bottom = pepper.getCameraFrame(handle_bottom) + cv2.imshow("top camera", img_top) + cv2.imshow("bottom camera", img_bottom) cv2.waitKey(1) except KeyboardInterrupt: + pass + finally: + # No need to manually unsubscribe from the cameras when calling + # stopSimulation, the method will automatically unsubscribe from the + # cameras simulation_manager.stopSimulation(client) diff --git a/examples/pepper_lasers.py b/examples/pepper_lasers.py index ab1b2b7..1416171 100644 --- a/examples/pepper_lasers.py +++ b/examples/pepper_lasers.py @@ -25,18 +25,24 @@ def main(): pepper.subscribeLaser() pepper.goToPosture("Stand", 0.6) - while True: - laser_list = pepper.getRightLaserValue() - laser_list.extend(pepper.getFrontLaserValue()) - laser_list.extend(pepper.getLeftLaserValue()) - - if all(laser == 3.0 for laser in laser_list): - print("Nothing detected") - else: - print("Detected") - pass - - time.sleep(0.1) + try: + while True: + laser_list = pepper.getRightLaserValue() + laser_list.extend(pepper.getFrontLaserValue()) + laser_list.extend(pepper.getLeftLaserValue()) + + if all(laser == 3.0 for laser in laser_list): + print("Nothing detected") + else: + print("Detected") + pass + + time.sleep(0.1) + + except KeyboardInterrupt: + pass + finally: + simulation_manager.stopSimulation(client) if __name__ == "__main__": diff --git a/examples/pepper_shadowing.py b/examples/pepper_shadowing.py index 6f5bce3..83097be 100644 --- a/examples/pepper_shadowing.py +++ b/examples/pepper_shadowing.py @@ -54,7 +54,6 @@ except KeyboardInterrupt: pass - finally: simulation_manager.stopSimulation(client) sys.exit("End the shadowing example") diff --git a/examples/robot_imu.py b/examples/robot_imu.py new file mode 100644 index 0000000..c9ea141 --- /dev/null +++ b/examples/robot_imu.py @@ -0,0 +1,68 @@ +import sys +import time +from qibullet import SimulationManager +from qibullet import PepperVirtual +from qibullet import NaoVirtual +from qibullet import RomeoVirtual + + +if __name__ == "__main__": + simulation_manager = SimulationManager() + + if (sys.version_info > (3, 0)): + rob = input("Which robot should be spawned? (pepper/nao/romeo): ") + else: + rob = raw_input("Which robot should be spawned? (pepper/nao/romeo): ") + + client = simulation_manager.launchSimulation(gui=True) + + if rob.lower() == "nao": + robot = simulation_manager.spawnNao(client, spawn_ground_plane=True) + elif rob.lower() == "pepper": + robot = simulation_manager.spawnPepper(client, spawn_ground_plane=True) + elif rob.lower() == "romeo": + robot = simulation_manager.spawnRomeo(client, spawn_ground_plane=True) + else: + print("You have to specify a robot, pepper, nao or romeo.") + simulation_manager.stopSimulation(client) + sys.exit(1) + + # Subscribe to the IMU of the robot with a default frequency + robot.subscribeImu() + robot.unsubscribeImu() + + # Get the IMU of the robot as an Imu object + imu = robot.getImu() + print("Type of the robot IMU: " + str(type(imu))) + + # Subscribe to the IMU, and define a specific frequency + robot.subscribeImu(frequency=100) # Or imu.setFrequency(100) + + try: + while True: + # The following method is equivalent to calling + # imu.getValues() + angular_velocity, linear_acceleration = robot.getImuValues() + + # One can also retrieve the accelerometer and gyroscope data + # separately: + + # The following method is equivalent to calling + # imu.getGyroscopeValues() + # angular_velocity = robot.getImuGyroscopeValues() + + # The following method is equivalent to calling + # robot.getImuAccelerometerValues() + # linear_acceleration = imu.getAccelerometerValues() + + print("Gyroscope values: " + str(angular_velocity)) + print("Accelerometer values: " + str(linear_acceleration)) + time.sleep(1.0) + + except KeyboardInterrupt: + pass + finally: + # Usually, robot.unsubscribeImu() or imu.unsubscribe should be called + # to stop the IMU data retrieval process. But the stopSimulation method + # will automatically track and kill active robot module processes + simulation_manager.stopSimulation(client) diff --git a/examples/robot_joint_control.py b/examples/robot_joint_control.py index 4cbed09..f3d73b3 100644 --- a/examples/robot_joint_control.py +++ b/examples/robot_joint_control.py @@ -17,7 +17,8 @@ else: rob = raw_input("Which robot should be spawned? (pepper/nao/romeo): ") - client = simulation_manager.launchSimulation(gui=True) + # Auto stepping set to False, the user has to manually step the simulation + client = simulation_manager.launchSimulation(gui=True, auto_step=False) if rob.lower() == "nao": robot = simulation_manager.spawnNao(client, spawn_ground_plane=True) @@ -43,8 +44,17 @@ robot.getAnglesPosition(name)), name)) - while True: - for joint_parameter in joint_parameters: - robot.setAngles( - joint_parameter[1], - p.readUserDebugParameter(joint_parameter[0]), 1.0) + try: + while True: + for joint_parameter in joint_parameters: + robot.setAngles( + joint_parameter[1], + p.readUserDebugParameter(joint_parameter[0]), 1.0) + + # Step the simulation + simulation_manager.stepSimulation(client) + + except KeyboardInterrupt: + pass + finally: + simulation_manager.stopSimulation(client) diff --git a/qibullet/__init__.py b/qibullet/__init__.py index f4d8550..eeec141 100644 --- a/qibullet/__init__.py +++ b/qibullet/__init__.py @@ -5,9 +5,10 @@ from qibullet.pepper_virtual import PepperVirtual from qibullet.simulation_manager import SimulationManager from qibullet.camera import Camera, CameraRgb, CameraDepth, CameraResolution +from qibullet.fsr import NaoFsr from qibullet.ros_wrapper import NaoRosWrapper from qibullet.ros_wrapper import RomeoRosWrapper from qibullet.ros_wrapper import PepperRosWrapper name = 'qibullet' -__version__ = "1.4.2" +__version__ = "1.4.3" diff --git a/qibullet/base_controller.py b/qibullet/base_controller.py index 90fb2ea..b23ee37 100644 --- a/qibullet/base_controller.py +++ b/qibullet/base_controller.py @@ -2,8 +2,6 @@ # coding: utf-8 import time -import atexit -import weakref import pybullet import threading @@ -15,7 +13,6 @@ class BaseController(Controller): """ Class describing a robot base controller """ - # _instances = set() FRAME_WORLD = 1 FRAME_ROBOT = 2 @@ -258,7 +255,7 @@ def moveTo(self, x, y, theta, frame, _async=False): """ self._setGoal(x, y, theta, frame) - if self.module_process.isAlive(): + if self.isAlive(): if _async is False: raise pybullet.error( "Already a moveTo asynchronous. Can't " diff --git a/qibullet/camera.py b/qibullet/camera.py index b5935a1..f610601 100644 --- a/qibullet/camera.py +++ b/qibullet/camera.py @@ -3,8 +3,6 @@ import math import time -import atexit -import weakref import pybullet import threading import numpy as np @@ -96,16 +94,18 @@ def __init__( self.resolution_lock = threading.Lock() self._setFov(hfov, vfov) - def subscribe(self, resolution): + def subscribe(self, resolution, fps=30.0): """ Subscribing method for the camera (the FOV has to be specified beforehand). This method will launch the frame extraction loop process of the camera in a separate thread. This method will return a camera handle, needed to retrieve camera frames, get the camera resolution, - and unsubscribe from it + etc. and unsubscribe from it Returns: handle - The handle of the camera + fps - The number of frames per second requested for the video + source (strictly positive float of int) """ # Lets the module process thread die before launching another one, if # the same camera calls the subscribing method for a second time @@ -113,6 +113,7 @@ def subscribe(self, resolution): self._module_termination = False self._setResolution(resolution) + self._setFps(fps) self.module_process =\ threading.Thread(target=self._frameExtractionLoop) @@ -201,22 +202,17 @@ def getResolution(self): with self.resolution_lock: return self.resolution - def _setFov(self, hfov, vfov): + def getFps(self): """ - INTERNAL METHOD, sets the field of view of the camera + Returns the framerate of the camera in number of frames per second. + This method simply wraps the @getFrequency method of Sensor, and will + return the frequency of the camera in Hz - Parameters: - hfov - The value of the horizontal field of view angle (in degrees) - vfov - The value of the vertical field of view angle (in degrees) + Returns: + fps - The number of frames per second for the camera (frequency of + the camera in Hz) """ - try: - assert isinstance(hfov, float) or isinstance(hfov, int) - assert isinstance(vfov, float) or isinstance(vfov, int) - self.hfov = hfov - self.vfov = vfov - - except AssertionError as e: - print("Cannot set the camera FOV: " + str(e)) + return self.getFrequency() def _setResolution(self, resolution): """ @@ -239,7 +235,7 @@ def _setResolution(self, resolution): top=math.tan(math.pi*self.vfov/360.0)*self.near_plane, nearVal=self.near_plane, farVal=self.far_plane, - physicsClientId=self.physics_client) + physicsClientId=self.getPhysicsClientId()) self.intrinsic_matrix = [ self.projection_matrix[0]*self.resolution.width/2.0, @@ -255,6 +251,35 @@ def _setResolution(self, resolution): except AssertionError as e: raise pybullet.error("Cannot set camera resolution: " + str(e)) + def _setFps(self, fps): + """ + INTERNAL METHOD, sets the framerate of the camera. This method actually + specifies the frequency of the camera, and simply wraps the + @setFrequency method defined in the Sensor class (for API consistency) + + Parameters: + fps - The framerate of the camera (ultimately its frequency in Hz, + formated as a strictly positive float or int) + """ + self.setFrequency(fps) + + def _setFov(self, hfov, vfov): + """ + INTERNAL METHOD, sets the field of view of the camera + + Parameters: + hfov - The value of the horizontal field of view angle (in degrees) + vfov - The value of the vertical field of view angle (in degrees) + """ + try: + assert isinstance(hfov, float) or isinstance(hfov, int) + assert isinstance(vfov, float) or isinstance(vfov, int) + self.hfov = hfov + self.vfov = vfov + + except AssertionError as e: + print("Cannot set the camera FOV: " + str(e)) + def _getCameraIntrinsics(self): """ INTERNAL METHOD, Returns the intrinsic camera matrix, formatted as: @@ -284,10 +309,10 @@ def _getCameraImage(self): camera_image - The camera image of the OpenGL virtual camera """ _, _, _, _, pos_world, q_world = pybullet.getLinkState( - self.robot_model, + self.getRobotModel(), self.camera_link.getParentIndex(), computeForwardKinematics=False, - physicsClientId=self.physics_client) + physicsClientId=self.getPhysicsClientId()) rotation = pybullet.getMatrixFromQuaternion(q_world) forward_vector = [rotation[0], rotation[3], rotation[6]] @@ -302,7 +327,7 @@ def _getCameraImage(self): pos_world, camera_target, up_vector, - physicsClientId=self.physics_client) + physicsClientId=self.getPhysicsClientId()) with self.resolution_lock: camera_image = pybullet.getCameraImage( @@ -312,7 +337,7 @@ def _getCameraImage(self): self.projection_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL, flags=pybullet.ER_NO_SEGMENTATION_MASK, - physicsClientId=self.physics_client) + physicsClientId=self.getPhysicsClientId()) return camera_image @@ -324,7 +349,7 @@ def _waitForCorrectImageFormat(self): resolution """ try: - assert self.module_process.isAlive() + assert self.isAlive() while self.getFrame() is None: continue @@ -340,7 +365,7 @@ def _waitForCorrectImageFormat(self): def _frameExtractionLoop(self): """ - INTERNAL METHOD, To be specified in each dauhter class, frame + ABSTRACT METHOD, To be specified in each dauhter class, frame extraction loop method. This method is threaded. The resolution and the FOV have to be specified beforehand """ @@ -439,14 +464,21 @@ def _frameExtractionLoop(self): Frame extraction loop, has to be threaded. The resolution and the FOV have to be specified beforehand """ + period = 1.0 / self.getFps() + sampling_time = time.time() + rgb_image = np.zeros(( self.resolution.height, self.resolution.width, 3)) while not self._module_termination: - camera_image = self._getCameraImage() + current_time = time.time() + + if current_time - sampling_time < period: + continue + camera_image = self._getCameraImage() camera_image = np.reshape( camera_image[2], (camera_image[1], camera_image[0], 4)) @@ -464,6 +496,7 @@ def _frameExtractionLoop(self): camera_image[:, :, 3] * camera_image[:, :, 0] self.frame = rgb_image.astype(np.uint8) + sampling_time = current_time class CameraDepth(Camera): @@ -509,7 +542,15 @@ def _frameExtractionLoop(self): Frame extraction loop, has to be threaded. The resolution and the FOV have to be specified beforehand """ + period = 1.0 / self.getFps() + sampling_time = time.time() + while not self._module_termination: + current_time = time.time() + + if current_time - sampling_time < period: + continue + camera_image = self._getCameraImage() depth_image = np.reshape( camera_image[3], @@ -520,4 +561,5 @@ def _frameExtractionLoop(self): depth_image) depth_image *= 1000 - self.frame = depth_image.astype(np.uint16) \ No newline at end of file + self.frame = depth_image.astype(np.uint16) + sampling_time = current_time diff --git a/qibullet/fsr.py b/qibullet/fsr.py new file mode 100644 index 0000000..2a1616a --- /dev/null +++ b/qibullet/fsr.py @@ -0,0 +1,157 @@ +#!/usr/bin/env python +# coding: utf-8 + +import pybullet +from qibullet.sensor import Sensor +from qibullet.helpers import GravityHelper + + +class NaoFsr: + """ + Enum for NAO fsrs + """ + LFOOT_FL = "LFsrFL_frame" + LFOOT_FR = "LFsrFR_frame" + LFOOT_RL = "LFsrRL_frame" + LFOOT_RR = "LFsrRR_frame" + RFOOT_FL = "LFsrFL_frame" + RFOOT_FR = "LFsrFR_frame" + RFOOT_RL = "LFsrRL_frame" + RFOOT_RR = "LFsrRR_frame" + + LFOOT = [LFOOT_FL, LFOOT_FR, LFOOT_RL, LFOOT_RR] + RFOOT = [LFOOT_FL, LFOOT_FR, LFOOT_RL, LFOOT_RR] + + +class Fsr(Sensor): + """ + Class representing a virtual Force Sensitive Resistor (FSR) + """ + + def __init__(self, robot_model, fsr_link, physicsClientId=0): + """ + Constructor + + Parameters: + robot_model - The pybullet model of the robot + fsr_link - The Link object corresponding to the link the FSR is + attached to + physicsClientId - The id of the simulated instance in the + corresponding robot exists + """ + Sensor.__init__( + self, + robot_model, + physicsClientId) + + self.fsr_link = fsr_link + + def getValue(self): + """ + Returns the weight detected on the Z axis of the sensor. The return + value is given in kg (computed from the measured force on the Z axis + and the gravity of the simulation) + + WARNING: The returned value is an approximation. Good practice: instead + of the value itself, take into account the variation of the value, in + order to detect any change at foot contact level. + """ + total_force = 0.0 + gravity = GravityHelper.getGravity(self.getPhysicsClientId())[2] + + contact_tuple = pybullet.getContactPoints( + bodyA=self.getRobotModel(), + linkIndexA=self.fsr_link.getIndex(), + physicsClientId=self.getPhysicsClientId()) + + for contact in contact_tuple: + total_force += contact[9] + + return total_force / gravity + + +class FsrHandler: + """ + Class defining a tool to handle multiple FSRs on the feet of a bipedal + robot + """ + + def __init__(self, fsr_dict): + """ + Constructor. The fsr sensors are passed to the handler through the + fsr_dict , with the following structure: + + {'fsr_name': Fsr, ...} + + fsr_name being the name of the fsr (string, for instance + NaoFsr.LFOOT_FL or "LFsrFL_frame"), and Fsr being the associated object + + Parameters: + fsr_dict - Dict containing the FSRs of the robot + """ + self.fsr_dict = fsr_dict + + def getValue(self, fsr_name): + """ + Returns the weight detected on the Z axis of the specified FSR. The + return value is given in kg (computed from the measured force on the Z + axis and the gravity of the simulation). If the required fsr does not + exist, the method will raise a pybullet error + + WARNING: The returned value is an approximation. Good practice: instead + of the value itself, take into account the variation of the value, in + order to detect any change at foot contact level. + + Parameters: + fsr_name - The name of the FSR, as a string (for instance + NaoFsr.LFOOT_FL or "LFsrFL_frame") + + Returns: + fsr_value - The measured value + """ + try: + return self.fsr_dict[fsr_name].getValue() + + except KeyError: + raise pybullet.error("The required Fsr does not exist") + + def getValues(self, fsr_names): + """ + Returns all of the FSR weight values for the FSRs corresponding to the + passed names. If the list of passed names is empty, the method will + return an empty list + + Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + + Returns: + fsr_values - The measured values for the corresponding FSRs, as a + List + """ + values = list() + + for name in fsr_names: + values.append(self.fsr_dict[name].getValue()) + + return values + + def getTotalValue(self, fsr_names): + """ + Returns the total weight value (the sum of all FSRs corresponding to + the names passed to the method). If no names are specified, the method + will return 0.0 + + Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + + Returns: + total_weight - The sum of all values for the corresponding FSRs + """ + total_weight = sum(self.getValues(fsr_names)) + + if isinstance(total_weight, int): + return float(total_weight) + else: + return total_weight diff --git a/qibullet/helpers.py b/qibullet/helpers.py new file mode 100644 index 0000000..1724568 --- /dev/null +++ b/qibullet/helpers.py @@ -0,0 +1,63 @@ +import pybullet + + +class GravityHelper: + """ + INTERNAL CLASS, Only the qibullet API should use it. To update the gravity, + SimulationManager objects should be used + """ + GRAVITY_DICT = dict() + + @classmethod + def getGravity(cls, physics_client): + """ + INTERNAL METHOD, static getter for the gravity. This method should only + be used by other components of the qiBullet API (the sensors for + instance). If the required simulated instance doesn't exist, the method + will return None + + Parameters: + physics_client - The id of the desired simulated instance + + Returns: + gravity - The gravity vector as a List of 3 floats + """ + try: + return cls.GRAVITY_DICT[physics_client] + + except KeyError: + return None + + @classmethod + def updateGravity(cls, physics_client, gravity): + """ + INTERNAL METHOD, Updates (or add) a gravity value in the gravity dict + + Parameters: + physics_client - The id of the simulated instance in which the + gravity is updated + gravity - The gravity vector update (List of 3 floats) + """ + pybullet.setGravity( + gravity[0], + gravity[1], + gravity[2], + physicsClientId=physics_client) + + cls.GRAVITY_DICT[physics_client] = gravity + + @classmethod + def removeGravity(cls, physics_client): + """ + INTERNAL METHOD, Removes a gravity value from the gravity dict. To be + called when the simulated instance is killed. If the required simulated + instance does not exist, the method won't do anything + + Parameters: + physics_client - The id of the simulated instance being removed + """ + try: + del cls.GRAVITY_DICT[physics_client] + + except KeyError: + pass diff --git a/qibullet/imu.py b/qibullet/imu.py new file mode 100644 index 0000000..457caeb --- /dev/null +++ b/qibullet/imu.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python +# coding: utf-8 + +import time +import pybullet +import threading +from qibullet.sensor import Sensor + + +class Imu(Sensor): + """ + Class representing a virtual inertial unit + """ + + def __init__(self, robot_model, imu_link, frequency, physicsClientId=0): + """ + Constructor. If the specified frequency is not a strictly positive int + or float, the constructor will raise a pybullet error + + Parameters: + robot_model - The pybullet model of the robot + imu_link - The Link object corresponding to the link the IMU is + attached to + frequency - The frequency of the IMU, in Hz + physicsClientId - The id of the simulated instance in which the + IMU should be spawned + """ + Sensor.__init__( + self, + robot_model, + physicsClientId) + + self.setFrequency(frequency) + + self.imu_link = imu_link + self.angular_velocity = [0.0, 0.0, 0.0] + self._linear_velocity = [0.0, 0.0, 0.0] + self.linear_acceleration = [0.0, 0.0, 0.0] + self.values_lock = threading.Lock() + + def subscribe(self): + """ + Subscribe to the IMU, activating the IMU scan process + """ + if self.isAlive(): + return + + self._module_termination = False + self.module_process = threading.Thread(target=self._imuScan) + self.module_process.start() + + def unsubscribe(self): + """ + Unsubscribe from the IMU, deactivating the IMU scan process + """ + if self.isAlive(): + self._terminateModule() + + def getGyroscopeValues(self): + """ + Returns the angular velocity of the IMU in rad/s in the + world frame + + Returns: + angular_velocity - The angular velocity in rad/s + """ + with self.values_lock: + return self.angular_velocity + + def getAccelerometerValues(self): + """ + Returns the linear acceleration of the IMU in m/s^2 in the + world frame + + Returns: + linear_acceleration - The linear acceleration in m/s^2 + """ + with self.values_lock: + return self.linear_acceleration + + def getValues(self): + """ + Returns the values of the gyroscope and the accelerometer of the IMU + (angular_velocity, linear_acceleration) in the world frame + + Returns: + angular_velocity - The angular velocity values in rad/s + linear_acceleration - The linear acceleration values in m/s^2 + """ + with self.values_lock: + return self.angular_velocity, self.linear_acceleration + + def _imuScan(self): + """ + INTERNAL METHOD, retrieves and update the IMU data + """ + period = 1.0 / self.getFrequency() + sampling_time = time.time() + + while not self._module_termination: + current_time = time.time() + + if current_time - sampling_time < period: + continue + + link_state = pybullet.getLinkState( + self.getRobotModel(), + self.imu_link.getIndex(), + computeLinkVelocity=True, + physicsClientId=self.getPhysicsClientId()) + + with self.values_lock: + self.angular_velocity = link_state[7] + self.linear_acceleration = [ + (i - j) / (time.time() - sampling_time) for i, j in zip( + link_state[6], + self._linear_velocity)] + + self._linear_velocity = link_state[6] + sampling_time = current_time diff --git a/qibullet/laser.py b/qibullet/laser.py index 656c7fe..f839d05 100644 --- a/qibullet/laser.py +++ b/qibullet/laser.py @@ -18,13 +18,13 @@ [-0.018, 0.0899, -0.334] # Left laser ] ANGLE_LIST_POSITION = [ - math.radians(LASER_ANGLE/2), # Front laser - math.radians(LASER_ANGLE/2) - 1.75728, # Right laser - math.radians(LASER_ANGLE/2) + 1.75728 # Left laser + math.radians(LASER_ANGLE / 2), # Front laser + math.radians(LASER_ANGLE / 2) - 1.75728, # Right laser + math.radians(LASER_ANGLE / 2) + 1.75728 # Left laser ] NUM_LASER = len(LASER_POSITION) -LASER_FRAMERATE = 6.25 +DEFAULT_FREQUENCY = 6.25 class Laser(Sensor): @@ -36,8 +36,9 @@ def __init__( self, robot_model, laser_id, - physicsClientId=0, - display=False): + frequency=DEFAULT_FREQUENCY, + display=False, + physicsClientId=0): """ Constructor @@ -45,9 +46,11 @@ def __init__( robot_model - The pybullet model of the robot. laser_id - The id of the link (Link type) onto which the Lasers' are attached. + frequency - The update frequency of the laser in Hz (default + frequency set to 6.25 Hz) + display - boolean that allow the display of the laser physicsClientId - The id of the simulated instance in which the lasers are to be spawned - display - boolean that allow the display of the laser """ Sensor.__init__(self, robot_model, physicsClientId) self.ray_from = [] @@ -56,16 +59,9 @@ def __init__( self.laser_value = [0] * NUM_RAY * NUM_LASER self.laser_id = laser_id self.display = display + self.values_lock = threading.Lock() - def isActive(self): - """ - Check if the lasers are subscribed or not (if the laser thread process - is active or not) - - Returns: - boolean - True if the lasers are subscribed, false otherwise - """ - return self.module_process.isAlive() + self.setFrequency(frequency) def subscribe(self): """ @@ -73,7 +69,7 @@ def subscribe(self): process). """ # No need to subscribe to the laser scan if the lasers are activated - if self.isActive(): + if self.isAlive(): return self._module_termination = False @@ -86,7 +82,7 @@ def unsubscribe(self): Unsubscribe from the laser scan (this will deactivate the laser scan process) """ - if self.isActive(): + if self.isAlive(): self._terminateModule() def showLaser(self, display): @@ -99,19 +95,22 @@ def getFrontLaserValue(self): """ Return a list of the front laser value (clockwise) """ - return self.laser_value[:NUM_RAY] + with self.values_lock: + return self.laser_value[:NUM_RAY] def getRightLaserValue(self): """ Return a list of the right laser value (clockwise) """ - return self.laser_value[NUM_RAY:2*NUM_RAY] + with self.values_lock: + return self.laser_value[NUM_RAY:2*NUM_RAY] def getLeftLaserValue(self): """ Return a list of the left laser value (clockwise) """ - return self.laser_value[2*NUM_RAY:] + with self.values_lock: + return self.laser_value[2*NUM_RAY:] def _initializeRays(self): """ @@ -124,33 +123,36 @@ def _initializeRays(self): LASER_POSITION[index][0], LASER_POSITION[index][1], LASER_POSITION[index][2]]) - self.ray_to.append( - [LASER_POSITION[index][0] + (RAY_LENGTH) * - math.cos(float(i) * - math.radians(-LASER_ANGLE)/NUM_RAY + angle), - LASER_POSITION[index][1] + (RAY_LENGTH) * - math.sin(float(i) * - math.radians(-LASER_ANGLE)/NUM_RAY + angle), - LASER_POSITION[index][2]]) + + self.ray_to.append([ + LASER_POSITION[index][0] + (RAY_LENGTH) * math.cos( + float(i) * math.radians(-LASER_ANGLE)/NUM_RAY + angle), + LASER_POSITION[index][1] + (RAY_LENGTH) * math.sin( + float(i) * math.radians(-LASER_ANGLE)/NUM_RAY + angle), + LASER_POSITION[index][2]]) def _laserScan(self): """ INTERNAL METHOD, a loop that simulate the laser and update the distance value of each laser """ - lastLidarTime = time.time() + period = 1.0 / self.getFrequency() + sampling_time = time.time() while not self._module_termination: - nowLidarTime = time.time() + current_time = time.time() - if (nowLidarTime-lastLidarTime > 1/LASER_FRAMERATE): - results = pybullet.rayTestBatch( - self.ray_from, - self.ray_to, - parentObjectUniqueId=self.robot_model, - parentLinkIndex=self.laser_id, - physicsClientId=self.physics_client) + if current_time - sampling_time < period: + continue + results = pybullet.rayTestBatch( + self.ray_from, + self.ray_to, + parentObjectUniqueId=self.getRobotModel(), + parentLinkIndex=self.laser_id, + physicsClientId=self.getPhysicsClientId()) + + with self.values_lock: for i in range(NUM_RAY*len(ANGLE_LIST_POSITION)): hitObjectUid = results[i][0] hitFraction = results[i][2] @@ -167,30 +169,32 @@ def _laserScan(self): self.ray_to[i], RAY_MISS_COLOR, replaceItemUniqueId=self.ray_ids[i], - parentObjectUniqueId=self.robot_model, + parentObjectUniqueId=self.getRobotModel(), parentLinkIndex=self.laser_id, - physicsClientId=self.physics_client) + physicsClientId=self.getPhysicsClientId()) else: # pragma: no cover - localHitTo = [self.ray_from[i][0]+hitFraction*( - self.ray_to[i][0]-self.ray_from[i][0]), - self.ray_from[i][1]+hitFraction*( - self.ray_to[i][1]-self.ray_from[i][1]), - self.ray_from[i][2]+hitFraction*( - self.ray_to[i][2]-self.ray_from[i][2])] + localHitTo = [ + self.ray_from[i][0] + hitFraction * ( + self.ray_to[i][0] - self.ray_from[i][0]), + self.ray_from[i][1] + hitFraction * ( + self.ray_to[i][1] - self.ray_from[i][1]), + self.ray_from[i][2] + hitFraction * ( + self.ray_to[i][2] - self.ray_from[i][2])] + pybullet.addUserDebugLine( self.ray_from[i], localHitTo, RAY_HIT_COLOR, replaceItemUniqueId=self.ray_ids[i], - parentObjectUniqueId=self.robot_model, + parentObjectUniqueId=self.getRobotModel(), parentLinkIndex=self.laser_id, - physicsClientId=self.physics_client) + physicsClientId=self.getPhysicsClientId()) else: if self.ray_ids: self._resetDebugLine() - lastLidarTime = nowLidarTime + sampling_time = current_time def _createDebugLine(self): """ @@ -202,15 +206,17 @@ def _createDebugLine(self): self.ray_from[i], self.ray_to[i], RAY_MISS_COLOR, - parentObjectUniqueId=self.robot_model, + parentObjectUniqueId=self.getRobotModel(), parentLinkIndex=self.laser_id, - physicsClientId=self.physics_client)) + physicsClientId=self.getPhysicsClientId())) def _resetDebugLine(self): """ INTERNAL METHOD, remove all debug lines """ for i in range(len(self.ray_ids)): - pybullet.removeUserDebugItem(self.ray_ids[i], self.physics_client) + pybullet.removeUserDebugItem( + self.ray_ids[i], + physicsClientId=self.getPhysicsClientId()) self.ray_ids = [] diff --git a/qibullet/nao_virtual.py b/qibullet/nao_virtual.py index 9dae08d..fda3335 100644 --- a/qibullet/nao_virtual.py +++ b/qibullet/nao_virtual.py @@ -4,8 +4,11 @@ import os import pybullet import qibullet.tools as tools -from qibullet.camera import * -from qibullet.base_controller import * +from qibullet.imu import Imu +from qibullet.camera import CameraRgb +from qibullet.fsr import Fsr +from qibullet.fsr import NaoFsr +from qibullet.fsr import FsrHandler from qibullet.robot_posture import NaoPosture from qibullet.robot_virtual import RobotVirtual @@ -60,9 +63,6 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): [x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - - Returns: - boolean - True if the method ran correctly, False otherwise """ pybullet.setAdditionalSearchPath( os.path.dirname(os.path.realpath(__file__)), @@ -169,7 +169,8 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): pybullet.resetJointState( self.robot_model, joint.getIndex(), - 0.0) + 0.0, + physicsClientId=self.physics_client) pybullet.removeConstraint( balance_constraint, @@ -202,7 +203,24 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): self.camera_dict = { NaoVirtual.ID_CAMERA_TOP: camera_top, NaoVirtual.ID_CAMERA_BOTTOM: camera_bottom} - # eventual constraints and lasers + + # The frequency of the IMU is set to 100Hz + self.imu = Imu( + self.robot_model, + self.link_dict["torso"], + 100.0, + physicsClientId=self.physics_client) + + # FSRs + fsr_dict = dict() + + for name in NaoFsr.LFOOT + NaoFsr.RFOOT: + fsr_dict[name] = Fsr( + self.robot_model, + self.link_dict[name], + physicsClientId=self.physics_client) + + self._setFsrHandler(FsrHandler(fsr_dict)) # TODO: implement a moveTo # TODO: implement a move diff --git a/qibullet/pepper_virtual.py b/qibullet/pepper_virtual.py index bd7f5cd..d3595e7 100644 --- a/qibullet/pepper_virtual.py +++ b/qibullet/pepper_virtual.py @@ -4,9 +4,11 @@ import os import pybullet import qibullet.tools as tools -from qibullet.laser import * -from qibullet.camera import * -from qibullet.base_controller import * +from qibullet.imu import Imu +from qibullet.laser import Laser +from qibullet.camera import CameraRgb +from qibullet.camera import CameraDepth +from qibullet.base_controller import PepperBaseController from qibullet.robot_posture import PepperPosture from qibullet.robot_virtual import RobotVirtual @@ -65,9 +67,6 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): [x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - - Returns: - boolean - True if the method ran correctly, False otherwise """ pybullet.setAdditionalSearchPath( os.path.dirname(os.path.realpath(__file__)), @@ -170,6 +169,13 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): childFrameOrientation=quaternion, physicsClientId=self.physics_client) + # The frequency of the IMU is set to 100Hz + self.imu = Imu( + self.robot_model, + self.link_dict["base_footprint"], + 100.0, + physicsClientId=self.physics_client) + self.laser_manager = Laser( self.robot_model, self.link_dict["Tibia"].getIndex(), diff --git a/qibullet/robot_data/installers/meshes_installer_27.pyc b/qibullet/robot_data/installers/meshes_installer_27.pyc index fe23001..28e6d61 100755 --- a/qibullet/robot_data/installers/meshes_installer_27.pyc +++ b/qibullet/robot_data/installers/meshes_installer_27.pyc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d0db5e5bfde734d2d7b1db030557dc76a80e21ef98289c7da306620de6bf7a74 -size 14942 +oid sha256:56a39cbf33448b590f83fe99196322789d7a16ee192cfc85c094b895c91f8fa8 +size 14941 diff --git a/qibullet/robot_data/installers/meshes_installer_35.pyc b/qibullet/robot_data/installers/meshes_installer_35.pyc index 3f2f8c0..0860a0e 100755 --- a/qibullet/robot_data/installers/meshes_installer_35.pyc +++ b/qibullet/robot_data/installers/meshes_installer_35.pyc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f3827a0f5fd14fd554f16cb115e8384923ccec5b7bfc8e9e5a4d204ba1bd4fed -size 15098 +oid sha256:f261fb10d78eabfbe8ce7352139610efa496d4a03e4ac55afb3a2c49d8085ef5 +size 15097 diff --git a/qibullet/robot_data/installers/meshes_installer_36.pyc b/qibullet/robot_data/installers/meshes_installer_36.pyc index 9c6bbf1..941646f 100755 --- a/qibullet/robot_data/installers/meshes_installer_36.pyc +++ b/qibullet/robot_data/installers/meshes_installer_36.pyc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fb051c7861310db09885bd603e87c1a23bb2b188bd5028df1eb6d4d6e16c6172 -size 14792 +oid sha256:4520bc68b9efe61617ef648ab605b0f60c88f55740fca84bf932258c156595f5 +size 14791 diff --git a/qibullet/robot_data/installers/meshes_installer_37.pyc b/qibullet/robot_data/installers/meshes_installer_37.pyc index fb7fc90..cfa2b4a 100755 --- a/qibullet/robot_data/installers/meshes_installer_37.pyc +++ b/qibullet/robot_data/installers/meshes_installer_37.pyc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:377306691594626be15c86883361c53e4983f940ac80d5bc19ab26ad930aa44c -size 14764 +oid sha256:a41462769a3a35eb68cc1b6a10c99d7eb06beebf077f9656d593c73388cb0688 +size 14763 diff --git a/qibullet/robot_data/installers/meshes_installer_38.pyc b/qibullet/robot_data/installers/meshes_installer_38.pyc index 129d37c..29010ce 100755 --- a/qibullet/robot_data/installers/meshes_installer_38.pyc +++ b/qibullet/robot_data/installers/meshes_installer_38.pyc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2c4621d45796112c0d1ae1ad4dd7aa12dc6b0f6dc991d3bf6000a2c8299e4b6e -size 14767 +oid sha256:0336e94b696133f65db99c0d8782e1bf1796a8287223a7707404b6659502e4b9 +size 14766 diff --git a/qibullet/robot_data/installers/meshes_installer_39.pyc b/qibullet/robot_data/installers/meshes_installer_39.pyc new file mode 100755 index 0000000..40b6b40 --- /dev/null +++ b/qibullet/robot_data/installers/meshes_installer_39.pyc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c8a7605ec1219d67f1b05878611aa9960eae898b2e8c1d734c73f7593a1b7de +size 14774 diff --git a/qibullet/robot_data/nao.urdf b/qibullet/robot_data/nao.urdf index 643fd8f..acd2984 100644 --- a/qibullet/robot_data/nao.urdf +++ b/qibullet/robot_data/nao.urdf @@ -278,7 +278,8 @@Loading...+ + +Searching...+No Matches+ +- + + - + + - + + ++ @@ -819,12 +830,21 @@ - + + ++ @@ -837,12 +857,21 @@ - + + ++ @@ -881,12 +910,21 @@ - + + ++ @@ -899,12 +937,21 @@ - + + ++ @@ -995,12 +1042,21 @@ - + + + + ++ + + ++ @@ -1026,12 +1082,21 @@ - + + + + ++ + + ++ @@ -1044,12 +1109,21 @@ - + + + + ++ + + ++ diff --git a/qibullet/robot_module.py b/qibullet/robot_module.py index c1f2a55..80b62bd 100644 --- a/qibullet/robot_module.py +++ b/qibullet/robot_module.py @@ -48,6 +48,15 @@ def getPhysicsClientId(self): """ return self.physics_client + def isAlive(self): + """ + Check the activity status of the module_process thread + + Returns: + boolean - True if the process is still alive, false otherwise + """ + return self.module_process.is_alive() + @classmethod def _getInstances(cls): """ @@ -73,5 +82,5 @@ def _terminateModule(self): """ self._module_termination = True - if self.module_process.isAlive(): + if self.isAlive(): self.module_process.join() diff --git a/qibullet/robot_virtual.py b/qibullet/robot_virtual.py index a3cf04f..77c648f 100644 --- a/qibullet/robot_virtual.py +++ b/qibullet/robot_virtual.py @@ -28,6 +28,8 @@ def __init__(self, description_file): self.camera_dict = dict() self.joint_dict = dict() self.link_dict = dict() + self.fsr_handler = None + self.imu = None def loadRobot(self, translation, quaternion, physicsClientId=0): """ @@ -41,9 +43,6 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): [x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - - Returns: - boolean - True if the method ran correctly, False otherwise """ try: self.physics_client = physicsClientId @@ -63,31 +62,25 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): for i in range(pybullet.getNumJoints( self.robot_model, physicsClientId=self.physics_client)): - if IS_VERSION_PYTHON_3: - # PYTHON 3 version needs a conversion bytes to str - joint_info = pybullet.getJointInfo( - self.robot_model, - i, - physicsClientId=self.physics_client) - self.link_dict[joint_info[12].decode('utf-8')] =\ - Link(joint_info) - if joint_info[2] == pybullet.JOINT_PRISMATIC or\ - joint_info[2] == pybullet.JOINT_REVOLUTE: - self.joint_dict[joint_info[1].decode('utf-8')] =\ - Joint(joint_info) + joint_info = pybullet.getJointInfo( + self.robot_model, + i, + physicsClientId=self.physics_client) + + # PYTHON 3 version needs a conversion bytes to str + if IS_VERSION_PYTHON_3: + link_name = joint_info[12].decode('utf-8') + joint_name = joint_info[1].decode('utf-8') else: - # PYTHON 2 Version - joint_info = pybullet.getJointInfo( - self.robot_model, - i, - physicsClientId=self.physics_client) + link_name = joint_info[12] + joint_name = joint_info[1] - self.link_dict[joint_info[12]] = Link(joint_info) + self.link_dict[link_name] = Link(joint_info) - if joint_info[2] == pybullet.JOINT_PRISMATIC or\ - joint_info[2] == pybullet.JOINT_REVOLUTE: - self.joint_dict[joint_info[1]] = Joint(joint_info) + if joint_info[2] == pybullet.JOINT_PRISMATIC or\ + joint_info[2] == pybullet.JOINT_REVOLUTE: + self.joint_dict[joint_name] = Joint(joint_info) def getRobotModel(self): """ @@ -224,11 +217,12 @@ def getLinkPosition(self, link_name): """ link_state = pybullet.getLinkState( self.robot_model, - self.link_dict[link_name].getIndex()) + self.link_dict[link_name].getIndex(), + physicsClientId=self.physics_client) - return link_state[0], link_state[1] + return link_state[4], link_state[5] - def subscribeCamera(self, camera_id, resolution=Camera.K_QVGA): + def subscribeCamera(self, camera_id, resolution=Camera.K_QVGA, fps=30.0): """ Subscribe to the camera holding the camera id (for instance, PepperVirtual.ID_CAMERA_TOP). This method returns a handle for the @@ -241,12 +235,14 @@ def subscribeCamera(self, camera_id, resolution=Camera.K_QVGA): Parameters: camera_id - The id of the camera to be subscribed resolution - CameraResolution object, the resolution of the camera + fps - The number of frames per second requested for the video + source (strictly positive float of int) Returns: handle - The associated camera handle """ try: - return self.camera_dict[camera_id].subscribe(resolution) + return self.camera_dict[camera_id].subscribe(resolution, fps=fps) except KeyError: print("This camera does not exist, use a valid camera id") @@ -307,6 +303,24 @@ def getCameraResolution(self, handle): except KeyError: raise pybullet.error("Invalid handle, resolution unavailable") + def getCameraFps(self, handle): + """ + Returns the framerate of the camera associated to the specified handle. + Be advised that the subscribeCamera method needs to be called + beforehand, otherwise a pybullet error will be raised. + + Parameters: + handle - the handle retrieved when subscribing to the camera + + Returns: + fps - The framerate of the camera (frequency of the camera in Hz) + """ + try: + return Camera._getCameraFromHandle(handle).getFps() + + except KeyError: + raise pybullet.error("Invalid handle, framerate unavailable") + def getCameraLink(self, handle): """ Returns the link of the camera associated to the specified handle. Be @@ -345,6 +359,186 @@ def getCamera(self, handle): except KeyError: raise pybullet.error("Invalid handle, no associated camera") + def subscribeImu(self, frequency=None): + """ + Subscribe to the Inertial Unit of the robot. If the robot doesn't have + an inertial unit, the method will raise a pybullet error. + + This method starts the background process collecting the Imu data, and + should be called before trying to access to the Imu data + + Parameters: + frequency - The desired frequency for the IMU, in Hz. If the + variable is not specified, the frequency value used when creating + the Imu object will be used. The value should be specified as an + int or a float + """ + try: + assert self.imu is not None + + if frequency is not None: + self.imu.setFrequency(frequency) + + self.imu.subscribe() + + except AssertionError: + raise pybullet.error("No IMU could be found for the virtual robot") + + def unsubscribeImu(self): + """ + Unsubscribe from the Inertial Unit of the robot. If the robot doesn't + have an inertial unit, the method will raise a pybullet error. + + This method stops the background process collecting the Imu data, and + should be called when the Imu data are not useful anymore + """ + try: + assert self.imu is not None + self.imu.unsubscribe() + + except AssertionError: + raise pybullet.error("No IMU could be found for the virtual robot") + + def getImuGyroscopeValues(self): + """ + Returns the angular velocity of the IMU in rad/s in the world frame. If + the robot doesn't have an inertial unit, the method will raise a + pybullet error. + + One should subscribe to the IMU before calling this method (otherwise, + the speed will constantly be [0, 0, 0]) + + Returns: + angular_velocity - The angular velocity in rad/s + """ + if self.imu is not None: + return self.imu.getGyroscopeValues() + else: + raise pybullet.error("No IMU could be found for the virtual robot") + + def getImuAccelerometerValues(self): + """ + Returns the linear acceleration of the IMU in m/s^2 in the world frame. + If the robot doesn't have an inertial unit, the method will raise a + pybullet error. + + One should subscribe to the IMU before calling this method (otherwise, + the acceleration will constantly be [0, 0, 0]) + + Returns: + linear_acceleration - The linear acceleration in m/s^2 + """ + if self.imu is not None: + return self.imu.getAccelerometerValues() + else: + raise pybullet.error("No IMU could be found for the virtual robot") + + def getImuValues(self): + """ + Returns the values of the gyroscope and the accelerometer of the IMU + (angular_velocity, linear_acceleration) in the world frame. If the + robot doesn't have an inertial unit, the method will raise a pybullet + error. + + One should subscribe to the IMU before calling this method (otherwise, + the acceleration and speed will constantly be [0, 0, 0], [0, 0, 0]) + + Returns: + angular_velocity - The angular velocity values in rad/s + linear_acceleration - The linear acceleration values in m/s^2 + """ + if self.imu is not None: + return self.imu.getValues() + else: + raise pybullet.error("No IMU could be found for the virtual robot") + + def getImu(self): + """ + Returns the IMU of the robot, as an Imu object. If the robot doesn't + have an inertial unit, the method will return None + + Returns: + imu - The IMU of the robot as an Imu object, None if the robot + doesn't possess an IMU + """ + return self.imu + + def getFsrValue(self, fsr_name): + """ + Returns the weight detected on the Z axis of the specified FSR. The + return value is given in kg (computed from the measured force on the Z + axis and the gravity of the simulation). If the required fsr does not + exist, or if no FSR handler has been defined for the robot, the method + will raise a pybullet error + + WARNING: The returned value is an approximation. Good practice: instead + of the value itself, take into account the variation of the value, in + order to detect any change at foot contact level. + + Parameters: + fsr_name - The name of the FSR, as a string (for instance + NaoFsr.LFOOT_FL or "LFsrFL_frame") + + Returns: + fsr_value - The measured value + """ + if self.fsr_handler is not None: + return self.fsr_handler.getValue(fsr_name) + else: + raise pybullet.error("No FSR handler could be found for the robot") + + def getFsrValues(self, fsr_names): + """ + Returns all of the FSR weight values for the FSRs corresponding to the + passed names. If the list of passed names is empty, the method will + return an empty list. If one of the required FSR does not exist, or if + no FSR handler has been defined for the robot, the method will raise a + pybullet error + + Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + + Returns: + fsr_values - The measured values for the corresponding FSRs, as a + List + """ + if self.fsr_handler is not None: + return self.fsr_handler.getValues(fsr_names) + else: + raise pybullet.error("No FSR handler could be found for the robot") + + def getTotalFsrValues(self, fsr_names): + """ + Returns the total weight value (the sum of all FSRs corresponding to + the names passed to the method). If no names are specified, the method + will return 0.0. If one of the required FSR does not exist, or if + no FSR handler has been defined for the robot, the method will raise a + pybullet error + + Parameters: + fsr_names - List containing the FSR names (for instance + NaoFsr.LFOOT) + + Returns: + total_weight - The sum of all values for the corresponding FSRs + """ + if self.fsr_handler is not None: + return self.fsr_handler.getTotalValue(fsr_names) + else: + raise pybullet.error("No FSR handler could be found for the robot") + + def getFsrHandler(self): + """ + Returns the FSR handler of the robot, as a FsrHandler object. If the + robot doesn't have a FSR handler, the method will return None + + Returns: + fsr_handler - The FSR handler of the robot as a FsrHandler object, + None if the robot doesn't possess a FSR handler + """ + return self.fsr_handler + def getPosition(self): """ Gets the position of the robot's base in the world frame. @@ -403,3 +597,10 @@ def isSelfColliding(self, link_names): except AssertionError: raise pybullet.error( "Unauthorized link checking for self collisions") + + def _setFsrHandler(self, fsr_handler): + """ + INTERNAL METHOD, To be called by a daughter class. Sets a FsrHandler + for the robot + """ + self.fsr_handler = fsr_handler diff --git a/qibullet/romeo_virtual.py b/qibullet/romeo_virtual.py index 600287c..7d06f4a 100644 --- a/qibullet/romeo_virtual.py +++ b/qibullet/romeo_virtual.py @@ -4,7 +4,9 @@ import os import pybullet import qibullet.tools as tools -from qibullet.camera import * +from qibullet.imu import Imu +from qibullet.camera import CameraRgb +from qibullet.camera import CameraDepth from qibullet.robot_posture import RomeoPosture from qibullet.robot_virtual import RobotVirtual @@ -56,9 +58,6 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): [x, y, z, q] of the robot in the WORLD frame physicsClientId - The id of the simulated instance in which the robot is supposed to be loaded - - Returns: - boolean - True if the method ran correctly, False otherwise """ pybullet.setAdditionalSearchPath( os.path.dirname(os.path.realpath(__file__)), @@ -166,7 +165,8 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): pybullet.resetJointState( self.robot_model, joint.getIndex(), - 0.0) + 0.0, + physicsClientId=self.physics_client) pybullet.removeConstraint( balance_constraint, @@ -209,6 +209,13 @@ def loadRobot(self, translation, quaternion, physicsClientId=0): RomeoVirtual.ID_CAMERA_LEFT: camera_left, RomeoVirtual.ID_CAMERA_DEPTH: camera_depth} + # The frequency of the IMU is set to 100Hz + self.imu = Imu( + self.robot_model, + self.link_dict["torso"], + 100.0, + physicsClientId=self.physics_client) + def setAngles(self, joint_names, joint_values, percentage_speed): """ Overloads @setAngles from the @RobotVirtual class. Handles the finger diff --git a/qibullet/ros_wrapper.py b/qibullet/ros_wrapper.py index ebcbc10..057bde8 100644 --- a/qibullet/ros_wrapper.py +++ b/qibullet/ros_wrapper.py @@ -204,7 +204,9 @@ def _broadcastOdometry(self, odometry_publisher): odom.child_frame_id = "base_link" [vx, vy, vz], [wx, wy, wz] = pybullet.getBaseVelocity( self.robot.getRobotModel(), - self.robot.getPhysicsClientId()) + self.robot.getPhysicsClientId(), + physicsClientId=self.robot.getPhysicsClientId()) + odom.twist.twist.linear.x = vx odom.twist.twist.linear.y = vy odom.twist.twist.angular.z = wz diff --git a/qibullet/sensor.py b/qibullet/sensor.py index e78af83..087d6b5 100644 --- a/qibullet/sensor.py +++ b/qibullet/sensor.py @@ -1,6 +1,7 @@ #!/usr/bin/env python # coding: utf-8 +import pybullet from qibullet.robot_module import RobotModule @@ -17,5 +18,53 @@ def __init__(self, robot_model, physics_client): robot_model - The pybullet model of the robot physics_client - The if of the simulated instance in which the robot is spawned + frequency - If specified, the acquisition frequency of the sensor, + in Hz """ RobotModule.__init__(self, robot_model, physics_client) + self.frequency = None + + def subscribe(self): + """ + ABSTRACT METHOD, Has to be redefined in the daughter classes if the + sensor uses a subscribing system + """ + raise NotImplementedError + + def unsubscribe(self): + """ + ABSTRACT METHOD, Has to be redefined in the daughter classes if the + sensor uses a subscribing system + """ + raise NotImplementedError + + def getFrequency(self): + """ + Returns the frequency of the sensor + + Returns: + frequency - The frequency in Hz (or None if the frequency is not + defined) + """ + return self.frequency + + def setFrequency(self, frequency): + """ + Sets the frequency of the sensor. The expected value should be strictly + positive int or float, otherwise the method will raise a pybullet error + + Parameters: + frequency - The frequency of the sensor in Hz + """ + if isinstance(frequency, int): + frequency = float(frequency) + + try: + assert isinstance(frequency, float) + assert frequency > 0.0 + self.frequency = frequency + + except AssertionError: + raise pybullet.error( + "Incorrect frequency value, strictly positive int or float " + + "expected") diff --git a/qibullet/simulation_manager.py b/qibullet/simulation_manager.py index cc944af..9cc9ee1 100644 --- a/qibullet/simulation_manager.py +++ b/qibullet/simulation_manager.py @@ -11,6 +11,7 @@ from qibullet.romeo_virtual import RomeoVirtual from qibullet.pepper_virtual import PepperVirtual from qibullet.robot_module import RobotModule +from qibullet.helpers import GravityHelper class SimulationManager: @@ -24,7 +25,11 @@ def __init__(self): """ pass - def launchSimulation(self, gui=True, use_shared_memory=False): + def launchSimulation( + self, + gui=True, + use_shared_memory=False, + auto_step=True): """ Launches a simulation instance @@ -40,13 +45,22 @@ def launchSimulation(self, gui=True, use_shared_memory=False): possible and the motion servers are manually stepped using the _stepSimulation method. (More information in the setup section of the qiBullet wiki, and in the pybullet documentation) + auto_step - Boolean, True by default. Only taken into account if + gui is False and use_shared_memory is False. If auto_step is True, + the simulation is automatically stepped. Otherwise, the user will + explicitely have to call @stepSimulation to step the simulation Returns: physics_client - The id of the simulation client created """ if gui: # pragma: no cover physics_client = pybullet.connect(pybullet.GUI) - pybullet.setRealTimeSimulation(1, physicsClientId=physics_client) + + if auto_step: + pybullet.setRealTimeSimulation( + 1, + physicsClientId=physics_client) + pybullet.configureDebugVisualizer( pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW, 0, @@ -64,16 +78,19 @@ def launchSimulation(self, gui=True, use_shared_memory=False): physics_client = pybullet.connect( pybullet.SHARED_MEMORY_SERVER) - pybullet.setRealTimeSimulation( - enableRealTimeSimulation=1, - physicsClientId=physics_client) + if auto_step: + pybullet.setRealTimeSimulation( + 1, + physicsClientId=physics_client) else: physics_client = pybullet.connect(pybullet.DIRECT) - threading.Thread( - target=self._stepSimulation, - args=[physics_client]).start() - pybullet.setGravity(0, 0, -9.81, physicsClientId=physics_client) + if auto_step: + threading.Thread( + target=self._stepSimulation, + args=[physics_client]).start() + + self.setGravity(physics_client, [0.0, 0.0, -9.81]) return physics_client def resetSimulation(self, physics_client): @@ -96,13 +113,45 @@ def stopSimulation(self, physics_client): try: pybullet.disconnect(physicsClientId=physics_client) + GravityHelper.removeGravity(physics_client) except pybullet.error: print("Instance " + str(physics_client) + " already stopped") + def stepSimulation(self, physics_client): + """ + Steps the simulated instance corresponding to the physics_client id + + Parameters: + physics_client - The id of the simulated instance to be stepped + """ + pybullet.stepSimulation(physicsClientId=physics_client) + + def getGravity(self, physics_client): + """ + Gets the gravity of a simulated instance. If the specified simulated + instance doesn't exist, the method will return None + + Parameters: + physics_client - The id of the required simulated instance + """ + return GravityHelper.getGravity(physics_client) + + def setGravity(self, physics_client, gravity): + """ + Sets the gravity for a simulated instance. By default (when spawning a + simulated instance) the gravity is set to [0.0, 0.0, -9.81] + + Parameters: + physics_client - The id of the simulated instance in which the + gravity is to be updated + gravity - The new gravity vector, as a List of 3 floats (in m/s^2) + """ + GravityHelper.updateGravity(physics_client, gravity) + def setLightPosition(self, physics_client, light_position): """ - Set the position of the GUI's light (does not work in DIRECT mode) + Sets the position of the GUI's light (does not work in DIRECT mode) Parameters: light_position - List containing the 3D positions [x, y, z] along diff --git a/qibullet/tools.py b/qibullet/tools.py index f8677ab..afb22a0 100644 --- a/qibullet/tools.py +++ b/qibullet/tools.py @@ -12,7 +12,7 @@ # Version tag corresponding to the latest version of the additional qibullet # ressources -RESOURCES_VERSION = "1.4.0" +RESOURCES_VERSION = "1.4.3" def getDistance(point_a, point_b): @@ -137,6 +137,8 @@ def _install_resources(agreement=False): # pragma: no cover import meshes_installer_37 as meshes_installer elif minor == 8: import meshes_installer_38 as meshes_installer + elif minor == 9: + import meshes_installer_39 as meshes_installer else: print("Uncompatible version of Python 3") return diff --git a/setup.py b/setup.py index dce722d..87351f2 100644 --- a/setup.py +++ b/setup.py @@ -86,7 +86,7 @@ def run(self): setuptools.setup( name="qibullet", - version="1.4.2", + version="1.4.3", author="Maxime Busy, Maxime Caniot", author_email="", description="Bullet-based simulation for SoftBank Robotics' robots", diff --git a/tests/camera_test.py b/tests/camera_test.py index 251be18..b0f22bb 100644 --- a/tests/camera_test.py +++ b/tests/camera_test.py @@ -128,6 +128,25 @@ def test_get_camera_resolution(self): with self.assertRaises(pybullet.error): CameraTest.robot.getCameraResolution(handle) + def test_get_camera_fps(self): + """ + Test the getCameraFps method + """ + for camera_id in CameraTest.robot.camera_dict.keys(): + handle = CameraTest.robot.subscribeCamera(camera_id, fps=15) + + # Check that the required framerate has been taken into account + self.assertEqual(CameraTest.robot.getCameraFps(handle), 15) + self.assertTrue(CameraTest.robot.unsubscribeCamera(handle)) + + with self.assertRaises(pybullet.error): + CameraTest.robot.getCameraFps(handle) + + # Check that a pybullet error is raised when specifying an + # incorrect framerate + with self.assertRaises(pybullet.error): + CameraTest.robot.subscribeCamera(camera_id, fps=-1) + def test_get_camera_link(self): """ Test the getCameraLink method @@ -255,30 +274,6 @@ def tearDownClass(cls): CameraTest.simulation.stopSimulation( CameraTest.client) - def test_subscribe_camera(self): - CameraTest.test_subscribe_camera(self) - - def test_get_camera_id(self): - CameraTest.test_get_camera_id(self) - - def test_is_active(self): - CameraTest.test_is_active(self) - - def test_get_camera_resolution(self): - CameraTest.test_get_camera_resolution(self) - - def test_camera_channels(self): - CameraTest.test_camera_channels(self) - - def test_get_camera_link(self): - CameraTest.test_get_camera_link(self) - - def test_invalid_fov(self): - CameraTest.test_invalid_fov(self) - - def test_get_camera_intrinsics(self): - CameraTest.test_get_camera_intrinsics(self) - class NaoCameraTest(CameraTest): """ @@ -306,30 +301,6 @@ def tearDownClass(cls): CameraTest.simulation.stopSimulation( CameraTest.client) - def test_subscribe_camera(self): - CameraTest.test_subscribe_camera(self) - - def test_get_camera_id(self): - CameraTest.test_get_camera_id(self) - - def test_is_active(self): - CameraTest.test_is_active(self) - - def test_get_camera_resolution(self): - CameraTest.test_get_camera_resolution(self) - - def test_camera_channels(self): - CameraTest.test_camera_channels(self) - - def test_get_camera_link(self): - CameraTest.test_get_camera_link(self) - - def test_invalid_fov(self): - CameraTest.test_invalid_fov(self) - - def test_get_camera_intrinsics(self): - CameraTest.test_get_camera_intrinsics(self) - class RomeoCameraTest(CameraTest): """ @@ -356,27 +327,3 @@ def tearDownClass(cls): """ CameraTest.simulation.stopSimulation( CameraTest.client) - - def test_subscribe_camera(self): - CameraTest.test_subscribe_camera(self) - - def test_get_camera_id(self): - CameraTest.test_get_camera_id(self) - - def test_is_active(self): - CameraTest.test_is_active(self) - - def test_get_camera_resolution(self): - CameraTest.test_get_camera_resolution(self) - - def test_camera_channels(self): - CameraTest.test_camera_channels(self) - - def test_get_camera_link(self): - CameraTest.test_get_camera_link(self) - - def test_invalid_fov(self): - CameraTest.test_invalid_fov(self) - - def test_get_camera_intrinsics(self): - CameraTest.test_get_camera_intrinsics(self) diff --git a/tests/fsr_test.py b/tests/fsr_test.py new file mode 100644 index 0000000..4aa9aed --- /dev/null +++ b/tests/fsr_test.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python +# coding: utf-8 +import unittest +import pybullet +from qibullet.fsr import Fsr +from qibullet.fsr import FsrHandler +from qibullet.fsr import NaoFsr +from qibullet import SimulationManager +from qibullet import NaoVirtual +from qibullet.robot_virtual import RobotVirtual + + +class FsrTest(unittest.TestCase): + """ + Unittests for a Fsr sensor (Fsr object) + """ + + def test_fsr_names(self): + """ + Test the names of the fsrs (for instance the names defined in NaoFsr, + check the test daughter classes for more information) + """ + names = list() + + for group in FsrTest.fsr_groups: + names.extend(group) + + for name in names: + self.assertIn(name, FsrTest.fsr_names) + + def test_get_fsr_value(self): + """ + Test the @getFsrValue method + """ + for name in FsrTest.fsr_names: + self.assertIsInstance(FsrTest.robot.getFsrValue(name), float) + + # Pass an unexisting fsr name + with self.assertRaises(pybullet.error): + FsrTest.robot.getFsrValue("Name that does not exist") + + def test_get_fsr_values(self): + """ + Test the @getFsrValues method + """ + # Test for non-empty and empty lists of FSR names + groups = FsrTest.fsr_groups + groups.extend([]) + + for group in FsrTest.fsr_groups: + values = FsrTest.robot.getFsrValues(group) + self.assertIsInstance(values, list) + self.assertEqual(len(values), len(group)) + + # Pass a list of fsr names containing an unexisting FSR + with self.assertRaises(pybullet.error): + FsrTest.robot.getFsrValues(["does not exist"]) + + def test_get_total_fsr_values(self): + """ + Test the @getTotalFsrValues method + """ + # Test for non-empty and empty lists of FSR names + groups = FsrTest.fsr_groups + groups.extend([]) + + for group in FsrTest.fsr_groups: + value = FsrTest.robot.getTotalFsrValue(group) + self.assertIsInstance(values, float) + + # Pass a list of fsr names containing an unexisting FSR + with self.assertRaises(pybullet.error): + FsrTest.robot.getTotalFsrValue(["does not exist"]) + + def test_get_fsr_handler(self): + """ + Test the @getFsrHandler method + """ + self.assertIsInstance(FsrTest.robot.getFsrHandler(), FsrHandler) + + +class NaoFsrTest(FsrTest): + """ + Unittests for Nao virtual's FSRs + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns the NAO virtual robot + """ + FsrTest.simulation = SimulationManager() + FsrTest.client = FsrTest.simulation.launchSimulation( + gui=False) + + FsrTest.fsr_names = NaoFsr.RFOOT + NaoFsr.LFOOT + FsrTest.fsr_groups = [NaoFsr.RFOOT, NaoFsr.LFOOT] + + FsrTest.robot = FsrTest.simulation.spawnNao( + FsrTest.client, + spawn_ground_plane=True) + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + FsrTest.simulation.stopSimulation( + FsrTest.client) + + +class DummyFsrTest(unittest.TestCase): + """ + Unittests for the behaviour of the Fsr related methods of RobotVirtual, + when the FSR handler is None (default value) + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns the NAO virtual robot + """ + DummyFsrTest.simulation = SimulationManager() + DummyFsrTest.client = DummyFsrTest.simulation.launchSimulation( + gui=False) + + DummyFsrTest.robot = DummyRobot() + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + DummyFsrTest.simulation.stopSimulation( + DummyFsrTest.client) + + def test_fsr_handler_none(self): + """ + Test the behaviour of the FSR related methods of RobotVirtual when the + FSR handler of the robot doesn't exist (set to None) + """ + with self.assertRaises(pybullet.error): + DummyFsrTest.robot.getFsrValue("dummy_name") + + with self.assertRaises(pybullet.error): + DummyFsrTest.robot.getFsrValues(["dummy_name"]) + + with self.assertRaises(pybullet.error): + DummyFsrTest.robot.getTotalFsrValues(["dummy_name"]) + + self.assertIsNone(DummyFsrTest.robot.getFsrHandler()) + + +class DummyRobot(RobotVirtual): + """ + Dummy robot class + """ + def __init__(self): + """ + Constructor + """ + RobotVirtual.__init__(self, "wrong_description_filepath") + + +if __name__ == "__main__": + unittest.main() diff --git a/tests/imu_test.py b/tests/imu_test.py new file mode 100644 index 0000000..b02c323 --- /dev/null +++ b/tests/imu_test.py @@ -0,0 +1,286 @@ +#!/usr/bin/env python +# coding: utf-8 +import unittest +import pybullet +from qibullet.imu import Imu +from qibullet import SimulationManager +from qibullet import PepperVirtual +from qibullet import NaoVirtual +from qibullet import RomeoVirtual +from qibullet.robot_virtual import RobotVirtual + + +class ImuTest(unittest.TestCase): + """ + Unittests for the Inertial Unit (Imu object) + """ + + def test_subscribe_unsubscribe(self): + """ + Test the @subscribe and @unsubscribe methods of the Imu class. + """ + self.assertFalse(ImuTest.robot.imu.isAlive()) + ImuTest.robot.imu.subscribe() + self.assertTrue(ImuTest.robot.imu.isAlive()) + ImuTest.robot.imu.subscribe() + self.assertTrue(ImuTest.robot.imu.isAlive()) + ImuTest.robot.imu.unsubscribe() + self.assertFalse(ImuTest.robot.imu.isAlive()) + ImuTest.robot.imu.unsubscribe() + self.assertFalse(ImuTest.robot.imu.isAlive()) + + def test_get_gyroscope_values(self): + """ + Test the @getGyroscopeValues method of the Imu class + """ + ImuTest.robot.imu.subscribe() + values = ImuTest.robot.imu.getGyroscopeValues() + ImuTest.robot.imu.unsubscribe() + + self.assertEqual(len(values), 3) + all(self.assertIsInstance(value, float) for value in values) + + def test_get_accelerometer_values(self): + """ + Test the @getAccelerometerValues method of the Imu class + """ + ImuTest.robot.imu.subscribe() + values = ImuTest.robot.imu.getAccelerometerValues() + ImuTest.robot.imu.unsubscribe() + + self.assertEqual(len(values), 3) + all(self.assertIsInstance(value, float) for value in values) + + def test_get_values(self): + """ + Test the @getValues method of the Imu class + """ + ImuTest.robot.imu.subscribe() + gyro_values, acc_values = ImuTest.robot.imu.getValues() + ImuTest.robot.imu.unsubscribe() + + self.assertEqual(len(gyro_values), 3) + self.assertEqual(len(acc_values), 3) + all(self.assertIsInstance(value, float) for value in gyro_values) + all(self.assertIsInstance(value, float) for value in acc_values) + + def test_subscribe_unsubscribe_imu(self): + """ + Test the @subscribeImu and @unsubscribeImu methods of the RobotVirtual + class + """ + self.assertFalse(ImuTest.robot.imu.isAlive()) + + with self.assertRaises(pybullet.error): + ImuTest.robot.subscribeImu(frequency=-3) + + self.assertFalse(ImuTest.robot.imu.isAlive()) + ImuTest.robot.subscribeImu(frequency=None) + ImuTest.robot.subscribeImu() + ImuTest.robot.subscribeImu(frequency=100) + self.assertTrue(ImuTest.robot.imu.isAlive()) + ImuTest.robot.unsubscribeImu() + self.assertFalse(ImuTest.robot.imu.isAlive()) + ImuTest.robot.unsubscribeImu() + self.assertFalse(ImuTest.robot.imu.isAlive()) + + def test_get_imu_gyroscope_values(self): + """ + Test the @getImuGyroscopeValues method of the RobotVirtual class + """ + ImuTest.robot.imu.subscribe() + values = ImuTest.robot.getImuGyroscopeValues() + ImuTest.robot.imu.unsubscribe() + + self.assertEqual(len(values), 3) + all(self.assertIsInstance(value, float) for value in values) + + def test_get_imu_accelerometer_values(self): + """ + Test the @getImuAccelerometerValues method of the RobotVirtual class + """ + ImuTest.robot.imu.subscribe() + values = ImuTest.robot.getImuAccelerometerValues() + ImuTest.robot.imu.unsubscribe() + + self.assertEqual(len(values), 3) + all(self.assertIsInstance(value, float) for value in values) + + def test_get_imu_values(self): + """ + Test the @getImuValues method of the RobotVirtual class + """ + ImuTest.robot.imu.subscribe() + gyro_values, acc_values = ImuTest.robot.getImuValues() + ImuTest.robot.imu.unsubscribe() + + self.assertEqual(len(gyro_values), 3) + self.assertEqual(len(acc_values), 3) + all(self.assertIsInstance(value, float) for value in gyro_values) + all(self.assertIsInstance(value, float) for value in acc_values) + + def test_get_imu(self): + """ + Test the @getImu method of the RobotVirtual class + """ + imu = ImuTest.robot.getImu() + self.assertIsInstance(imu, Imu) + + +class PepperImuTest(ImuTest): + """ + Unittests for the Pepper virtual's IMU + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns the Pepper virtual robot + """ + ImuTest.simulation = SimulationManager() + ImuTest.client = ImuTest.simulation.launchSimulation( + gui=False) + + ImuTest.robot = ImuTest.simulation.spawnPepper( + ImuTest.client, + spawn_ground_plane=True) + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + ImuTest.simulation.stopSimulation( + ImuTest.client) + + +class NaoImuTest(ImuTest): + """ + Unittests for Nao virtual's IMU + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns the NAO virtual robot + """ + ImuTest.simulation = SimulationManager() + ImuTest.client = ImuTest.simulation.launchSimulation( + gui=False) + + ImuTest.robot = ImuTest.simulation.spawnNao( + ImuTest.client, + spawn_ground_plane=True) + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + ImuTest.simulation.stopSimulation( + ImuTest.client) + + +class RomeoImuTest(ImuTest): + """ + Unittests for Romeo virtual's IMU + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns the NAO virtual robot + """ + ImuTest.simulation = SimulationManager() + ImuTest.client = ImuTest.simulation.launchSimulation( + gui=False) + + ImuTest.robot = ImuTest.simulation.spawnRomeo( + ImuTest.client, + spawn_ground_plane=True) + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + ImuTest.simulation.stopSimulation( + ImuTest.client) + + +class DummyImuTest(unittest.TestCase): + """ + Unittests for the behaviour of the Imu related methods of RobotVirtual, + when the Imu is None (default value) + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns the NAO virtual robot + """ + DummyImuTest.simulation = SimulationManager() + DummyImuTest.client = DummyImuTest.simulation.launchSimulation( + gui=False) + + DummyImuTest.robot = DummyRobot() + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + DummyImuTest.simulation.stopSimulation( + DummyImuTest.client) + + def test_imu_none(self): + """ + Test the behaviour of the Imu related methods of RobotVirtual when the + Imu of the robot doesn't exist (set to None) + """ + with self.assertRaises(pybullet.error): + DummyImuTest.robot.subscribeImu() + + with self.assertRaises(pybullet.error): + DummyImuTest.robot.unsubscribeImu() + + with self.assertRaises(pybullet.error): + DummyImuTest.robot.getImuGyroscopeValues() + + with self.assertRaises(pybullet.error): + DummyImuTest.robot.getImuAccelerometerValues() + + with self.assertRaises(pybullet.error): + DummyImuTest.robot.getImuValues() + + self.assertIsNone(DummyImuTest.robot.getImu()) + + def test_imu_creation(self): + """ + Test the behaviour of the Imu constructor when a wrongful frequency is + specified + """ + imu = Imu(-1, None, 10) + self.assertIsInstance(imu.getFrequency(), float) + self.assertEqual(imu.getFrequency(), 10.0) + + with self.assertRaises(pybullet.error): + imu = Imu(-1, None, None) + + with self.assertRaises(pybullet.error): + imu = Imu(-1, None, -3) + + +class DummyRobot(RobotVirtual): + """ + Dummy robot class + """ + def __init__(self): + """ + Constructor + """ + RobotVirtual.__init__(self, "wrong_description_filepath") + + +if __name__ == "__main__": + unittest.main() diff --git a/tests/joint_test.py b/tests/joint_test.py index 36765e4..5104e80 100644 --- a/tests/joint_test.py +++ b/tests/joint_test.py @@ -180,27 +180,6 @@ def tearDownClass(cls): JointTest.simulation.stopSimulation( JointTest.client) - def test_joints_characteristics(self): - JointTest.test_joints_characteristics(self) - - def test_get_joint(self): - JointTest.test_get_joint(self) - - def test_set_angles(self): - JointTest.test_set_angles(self) - - def test_speed_limits(self): - JointTest.test_speed_limits(self) - - def test_angle_limits(self): - JointTest.test_angle_limits(self) - - def test_get_angles_position(self): - JointTest.test_get_angles_position(self) - - def test_get_angles_velocity(self): - JointTest.test_get_angles_velocity(self) - class NaoJointTest(JointTest): """ @@ -228,27 +207,6 @@ def tearDownClass(cls): JointTest.simulation.stopSimulation( JointTest.client) - def test_joints_characteristics(self): - JointTest.test_joints_characteristics(self) - - def test_get_joint(self): - JointTest.test_get_joint(self) - - def test_set_angles(self): - JointTest.test_set_angles(self) - - def test_speed_limits(self): - JointTest.test_speed_limits(self) - - def test_angle_limits(self): - JointTest.test_angle_limits(self) - - def test_get_angles_position(self): - JointTest.test_get_angles_position(self) - - def test_get_angles_velocity(self): - JointTest.test_get_angles_velocity(self) - class RomeoJointTest(JointTest): """ @@ -276,27 +234,6 @@ def tearDownClass(cls): JointTest.simulation.stopSimulation( JointTest.client) - def test_joints_characteristics(self): - JointTest.test_joints_characteristics(self) - - def test_get_joint(self): - JointTest.test_get_joint(self) - - def test_set_angles(self): - JointTest.test_set_angles(self) - - def test_speed_limits(self): - JointTest.test_speed_limits(self) - - def test_angle_limits(self): - JointTest.test_angle_limits(self) - - def test_get_angles_position(self): - JointTest.test_get_angles_position(self) - - def test_get_angles_velocity(self): - JointTest.test_get_angles_velocity(self) - if __name__ == "__main__": unittest.main() diff --git a/tests/laser_test.py b/tests/laser_test.py index 798ceb1..c70868c 100644 --- a/tests/laser_test.py +++ b/tests/laser_test.py @@ -86,13 +86,13 @@ def test_lasers_alive(self): Test the isAlive method for the laser extraction process """ self.assertFalse( - PepperLaserTest.robot.laser_manager.isActive()) + PepperLaserTest.robot.laser_manager.isAlive()) PepperLaserTest.robot.subscribeLaser() self.assertTrue( - PepperLaserTest.robot.laser_manager.isActive()) + PepperLaserTest.robot.laser_manager.isAlive()) PepperLaserTest.robot.unsubscribeLaser() self.assertFalse( - PepperLaserTest.robot.laser_manager.isActive()) + PepperLaserTest.robot.laser_manager.isAlive()) if __name__ == "__main__": diff --git a/tests/link_test.py b/tests/link_test.py index cc60a49..57cc9ec 100644 --- a/tests/link_test.py +++ b/tests/link_test.py @@ -83,15 +83,6 @@ def tearDownClass(cls): LinkTest.simulation.stopSimulation( LinkTest.client) - def test_links_characteristics(self): - LinkTest.test_links_characteristics(self) - - def test_get_link(self): - LinkTest.test_get_link(self) - - def test_get_link_position(self): - LinkTest.test_get_link_position(self) - class NaoLinkTest(LinkTest): """ @@ -119,15 +110,6 @@ def tearDownClass(cls): LinkTest.simulation.stopSimulation( LinkTest.client) - def test_links_characteristics(self): - LinkTest.test_links_characteristics(self) - - def test_get_link(self): - LinkTest.test_get_link(self) - - def test_get_link_position(self): - LinkTest.test_get_link_position(self) - class RomeoLinkTest(LinkTest): """ @@ -155,15 +137,6 @@ def tearDownClass(cls): LinkTest.simulation.stopSimulation( LinkTest.client) - def test_links_characteristics(self): - LinkTest.test_links_characteristics(self) - - def test_get_link(self): - LinkTest.test_get_link(self) - - def test_get_link_position(self): - LinkTest.test_get_link_position(self) - if __name__ == "__main__": unittest.main() diff --git a/tests/posture_test.py b/tests/posture_test.py index 945570a..763085d 100644 --- a/tests/posture_test.py +++ b/tests/posture_test.py @@ -81,18 +81,6 @@ def tearDownClass(cls): PostureTest.simulation.stopSimulation( PostureTest.client) - def test_invalid_posture(self): - PostureTest.test_invalid_posture(self) - - def test_stand_posture(self): - PostureTest.test_stand_posture(self) - - def test_stand_zero_posture(self): - PostureTest.test_stand_zero_posture(self) - - def test_crouch_posture(self): - PostureTest.test_crouch_posture(self) - class NaoPostureTest(PostureTest): """ @@ -120,18 +108,6 @@ def tearDownClass(cls): PostureTest.simulation.stopSimulation( PostureTest.client) - def test_invalid_posture(self): - PostureTest.test_invalid_posture(self) - - def test_stand_posture(self): - PostureTest.test_stand_posture(self) - - def test_stand_zero_posture(self): - PostureTest.test_stand_zero_posture(self) - - def test_crouch_posture(self): - PostureTest.test_crouch_posture(self) - class RomeoPostureTest(PostureTest): """ @@ -159,18 +135,6 @@ def tearDownClass(cls): PostureTest.simulation.stopSimulation( PostureTest.client) - def test_invalid_posture(self): - PostureTest.test_invalid_posture(self) - - def test_stand_posture(self): - PostureTest.test_stand_posture(self) - - def test_stand_zero_posture(self): - PostureTest.test_stand_zero_posture(self) - - def test_crouch_posture(self): - PostureTest.test_crouch_posture(self) - if __name__ == "__main__": unittest.main() diff --git a/tests/sensor_test.py b/tests/sensor_test.py new file mode 100644 index 0000000..ee78ec9 --- /dev/null +++ b/tests/sensor_test.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python +# coding: utf-8 +import unittest +import pybullet +from qibullet import SimulationManager +from qibullet.sensor import Sensor + + +class SensorTest(unittest.TestCase): + """ + Unittests for the Sensor class functionalities (will use a dummy sensor + and a dummy robot for the test, the dummy sensor will inherit from Sensor) + """ + + @classmethod + def setUpClass(cls): + """ + Launches a simulation and spawns a Pepper virtual robot + """ + SensorTest.simulation = SimulationManager() + SensorTest.client = SensorTest.simulation.launchSimulation( + gui=False) + + SensorTest.sensor = DummySensor(SensorTest.client) + + @classmethod + def tearDownClass(cls): + """ + Stops the simulation + """ + SensorTest.simulation.stopSimulation( + SensorTest.client) + + def test_set_get_frequency(self): + """ + Test the @setFrequency and @getFrequency method of Sensor + """ + self.assertIsNone(SensorTest.sensor.getFrequency()) + + with self.assertRaises(pybullet.error): + SensorTest.sensor.setFrequency(None) + + self.assertIsNone(SensorTest.sensor.getFrequency()) + SensorTest.sensor.setFrequency(5) + self.assertIsInstance(SensorTest.sensor.getFrequency(), float) + self.assertEqual(SensorTest.sensor.getFrequency(), 5.0) + SensorTest.sensor.setFrequency(10.0) + self.assertIsInstance(SensorTest.sensor.getFrequency(), float) + self.assertEqual(SensorTest.sensor.getFrequency(), 10.0) + + with self.assertRaises(pybullet.error): + SensorTest.sensor.setFrequency(0) + + self.assertEqual(SensorTest.sensor.getFrequency(), 10.0) + + with self.assertRaises(pybullet.error): + SensorTest.sensor.setFrequency(-3.0) + + self.assertEqual(SensorTest.sensor.getFrequency(), 10.0) + + def test_subscribe(self): + """ + Test the @subscribe method of Sensor, should raise a + NotImplementedError + """ + with self.assertRaises(NotImplementedError): + SensorTest.sensor.subscribe() + + def test_unsubscribe(self): + """ + Test the @unsubscribe method of Sensor, should raise a + NotImplementedError + """ + with self.assertRaises(NotImplementedError): + SensorTest.sensor.unsubscribe() + + +class DummySensor(Sensor): + """ + Dummy sensor class + """ + def __init__(self, physics_client): + """ + Constructor + """ + Sensor.__init__(self, -1, physics_client) diff --git a/tests/simulation_manager_test.py b/tests/simulation_manager_test.py index b8e2750..7e54fc3 100644 --- a/tests/simulation_manager_test.py +++ b/tests/simulation_manager_test.py @@ -16,16 +16,27 @@ def test_launch_simulation(self): Test the @launchSimulation method """ manager = SimulationManager() - client = manager.launchSimulation(gui=False) + client = manager.launchSimulation(gui=False) self.assertEqual(client, 0) manager.stopSimulation(client) client = manager.launchSimulation(gui=False, use_shared_memory=True) + self.assertEqual(client, 0) + manager.stopSimulation(client) + + client = manager.launchSimulation( + gui=False, + use_shared_memory=True, + auto_step=False) self.assertEqual(client, 0) manager.stopSimulation(client) + client = manager.launchSimulation(gui=False, auto_step=False) + self.assertEqual(client, 0) + manager.stopSimulation(client) + # Ensure that stopping the simulation one more time won't raise an # error try: @@ -35,6 +46,86 @@ def test_launch_simulation(self): except Exception: self.assertTrue(False) + def test_reset_simulation(self): + """ + Test the @resetSimulation method + """ + manager = SimulationManager() + client = manager.launchSimulation(gui=False) + manager.resetSimulation(client) + manager.stopSimulation(client) + + def test_stop_simulation(self): + """ + Test the @stopSimulation method + """ + manager = SimulationManager() + client = manager.launchSimulation(gui=False) + manager.stopSimulation(client) + + with self.assertRaises(pybullet.error): + pybullet.stepSimulation(physicsClientId=client) + + def test_step_simulation(self): + """ + Test the @stepSimulation method + """ + manager = SimulationManager() + client = manager.launchSimulation(gui=False, auto_step=False) + manager.stepSimulation(client) + + with self.assertRaises(pybullet.error): + manager.stepSimulation(client + 1) + + manager.stopSimulation(client) + + client = manager.launchSimulation( + gui=False, + use_shared_memory=True, + auto_step=False) + + manager.stepSimulation(client) + + with self.assertRaises(pybullet.error): + manager.stepSimulation(client + 1) + + manager.stopSimulation(client) + + def test_get_gravity(self): + """ + Test the @getGravity method + """ + manager = SimulationManager() + client = manager.launchSimulation(gui=False) + + gravity = manager.getGravity(client) + self.assertIsInstance(gravity, list) + self.assertEqual(len(gravity), 3) + manager.stopSimulation(client) + + def test_set_gravity(self): + """ + Test the @setGravity method + """ + manager = SimulationManager() + client = manager.launchSimulation(gui=False) + gravities = [ + [0.0, 0.0, -9.81], + [0.0, 0.0, 9.81], + [1.0, 3.0, 0.0], + [-1.0, 3.5, 2.0]] + + for gravity in gravities: + manager.setGravity(client, gravity) + value = manager.getGravity(client) + + self.assertIsInstance(value, list) + + for i in range(len(gravity)): + self.assertEqual(value[i], gravity[i]) + + manager.stopSimulation(client) + def test_set_light_position(self): """ Test the @setLightPosition method @@ -56,15 +147,6 @@ def test_set_light_position(self): manager.stopSimulation(client) - def test_reset_simulation(self): - """ - Test the @resetSimulation method - """ - manager = SimulationManager() - client = manager.launchSimulation(gui=False) - manager.resetSimulation(client) - manager.stopSimulation(client) - def test_camera_removal(self): """ Ensure that the camera processes are stopped when removing a robot, diff --git a/tests/test_launcher.py b/tests/test_launcher.py index 51402d9..014ec28 100644 --- a/tests/test_launcher.py +++ b/tests/test_launcher.py @@ -26,6 +26,13 @@ from joint_test import NaoJointTest from joint_test import RomeoJointTest from joint_test import PepperJointTest + from sensor_test import SensorTest + from imu_test import PepperImuTest + from imu_test import NaoImuTest + from imu_test import RomeoImuTest + from imu_test import DummyImuTest + from fsr_test import NaoFsrTest + from fsr_test import DummyFsrTest from laser_test import PepperLaserTest from camera_test import NaoCameraTest from camera_test import RomeoCameraTest @@ -52,6 +59,13 @@ NaoJointTest, RomeoJointTest, PepperJointTest, + SensorTest, + PepperImuTest, + NaoImuTest, + RomeoImuTest, + DummyImuTest, + NaoFsrTest, + DummyFsrTest, PepperLaserTest, NaoCameraTest, RomeoCameraTest, diff --git a/tests/virtual_robot_test.py b/tests/virtual_robot_test.py index 4b50098..4cb1da4 100644 --- a/tests/virtual_robot_test.py +++ b/tests/virtual_robot_test.py @@ -8,8 +8,8 @@ class VirtualRobotTest(unittest.TestCase): """ - Unittests for the RobotVirtual class functionalities (will use a Pepper - robot for the test, PepperVirtual inherits from RobotVirtual) + Unittests for the RobotVirtual class functionalities (will use a dummy + robot for the test, that inherits from RobotVirtual) """ @classmethod
- l -
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, qibullet.camera.CameraResolution
, qibullet.camera.CameraRgb
, qibullet.controller.Controller
+, qibullet.fsr.Fsr
+, qibullet.fsr.FsrHandler
+, qibullet.imu.Imu
, qibullet.joint.Joint
-, qibullet.laser.Laser
+, qibullet.laser.Laser
, qibullet.link.Link
, qibullet.nao_virtual.NaoVirtual
, qibullet.pepper_virtual.PepperVirtual
@@ -140,6 +143,9 @@
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-
+
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+