swangnice/rotor_py_control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Modified world syntax for ease of use.

Browse Source
This commit is contained in:
spencerfolk
2023-03-23 13:51:47 -04:00
parent cb94567a49
commit ea80d4367a
2 changed files with 17 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
examples/basic_usage.py
View File

@@ -32,17 +32,28 @@ from rotorpy.sensors.external_mocap import MotionCapture
# You can also specify a state estimator. This is optional. If no state estimator is supplied it will default to null.
from rotorpy.estimators.wind_ukf import WindUKF
# Also, worlds are how we construct obstacles. The following class contains methods related to constructing these maps.
from rotorpy.world import World
# Reference the files above for more documentation.
# Other useful imports
import numpy as np # For array creation/manipulation
import matplotlib.pyplot as plt # For plotting, although the simulator has a built in plotter
from scipy.spatial.transform import Rotation # For doing conversions between different rotation descriptions, applying rotations, etc.
import os # For path generation
"""
Instantiation
"""
# Obstacle maps can be loaded in from a JSON file using the World.from_file(path) method. Here we are loading in from
# an existing file under the rotorpy/worlds/ directory. However, you can create your own world by following the template
# provided (see rotorpy/worlds/README.md), and load that file anywhere using the appropriate path.
world = World.from_file(os.path.abspath(os.path.join(os.path.dirname(__file__),'..','rotorpy','worlds','double_pillar.json')))
# "world" is an optional argument. If you don't load a world it'll just provide an empty playground!
# An instance of the simulator can be generated as follows:
sim_instance = Environment(vehicle=Multirotor(quad_params), # vehicle object, must be specified.
controller=SE3Control(quad_params), # controller object, must be specified.
@@ -52,7 +63,7 @@ sim_instance = Environment(vehicle=Multirotor(quad_params), # vehicle
imu = None, # OPTIONAL: imu sensor object, if none is supplied it will choose a default IMU sensor.
mocap = None, # OPTIONAL: mocap sensor object, if none is supplied it will choose a default mocap.
estimator = None, # OPTIONAL: estimator object
world_fname = 'double_pillar', # OPTIONAL: the world, same name as the file in rotorpy/worlds/, default (None) is empty world
world = world, # OPTIONAL: the world, same name as the file in rotorpy/worlds/, default (None) is empty world
safety_margin= 0.25 # OPTIONAL: defines the radius (in meters) of the sphere used for collision checking
)

10
rotorpy/environments.py
View File

@@ -24,10 +24,10 @@ class Environment():
trajectory, # trajectory object, must be specified.
wind_profile = None, # wind profile object, if none is supplied it will choose no wind.
imu = None, # imu sensor object, if none is supplied it will choose a default IMU sensor.
mocap = None, # mocap sensor object, if none is supplied it will choose a default mocap.
mocap = None, # mocap sensor object, if none is supplied it will choose a default mocap.
world = None, # The world object
estimator = None, # estimator object
sim_rate = 100, # The update frequency of the simulator in Hz
world_fname = None, # The world filename, when specified it will load the file located in ../worlds
safety_margin = 0.25, # The radius of the safety region around the robot.
):
@@ -38,13 +38,13 @@ class Environment():
self.safety_margin = safety_margin
if world_fname is None:
# If no world JSON file is specified, assume that it means that the intended world is free space.
if world is None:
# If no world is specified, assume that it means that the intended world is free space.
wbound = 3
self.world = World.empty((-wbound, wbound, -wbound,
wbound, -wbound, wbound))
else:
self.world = World.from_file(os.path.abspath(os.path.join(os.path.dirname(__file__),'worlds',world_fname+'.json')))
self.world = world
if wind_profile is None:
# If wind is not specified, default to no wind.