Embodied Robot Controlling Example

Introduction

This example will guide you through test_tobor_move.py that loads and controls an embodied robot named Tobor in RFUniverse simulation environment.

Understanding the Code

The code consists of several sections. Below we will discuss each part of the code line by line.

1. Importing Libraries:

from pyrfuniverse.envs.base_env import RFUniverseBaseEnv
import pyrfuniverse.attributes as attr

2. Creating a Simulation Environment Instance and Loading Tobor:

The next code creates an instance of the RFUniverse simulation environment and loads the Tobor robot with two AG95 grippers. Tobor also support other grippers, such as Robotiq85.

env = RFUniverseBaseEnv(assets=['tobor_r300_ag95_ag95'])
torbor = env.InstanceObject(name='tobor_r300_ag95_ag95', attr_type=attr.ControllerAttr)
torbor.SetTransform(position=[0, 0.05, 0])
torbor.SetImmovable(False)
env.step()

3. Controlling the Robot:

The next code section controls the movements of the Tobor robot by calling its various methods, such as MoveForward, TurnLeft, MoveBack, and TurnRight. The parameters passed to the methods specify the duration and distance of the movement.

while 1:
    torbor.MoveForward(1, 0.2)
    env.step(300)
    torbor.TurnLeft(90, 30)
    env.step(300)
    torbor.MoveForward(1, 0.2)
    env.step(300)
    torbor.TurnLeft(90, 30)
    env.step(300)
    torbor.MoveForward(1, 0.2)
    env.step(300)
    torbor.TurnRight(90, 30)
    env.step(300)
    torbor.MoveBack(1, 0.2)
    env.step(300)
    torbor.TurnRight(90, 30)
    env.step(300)

4. Running the Simulation:

The final section of code runs the simulation continuously.

while 1:
    env.step()