test_tobor_move

1 Basic Features

Demonstrate the wheel-driven movement of tobor

2 Implementation Process

2.1 Initialize the Environment

env = RFUniverseBaseEnv(assets=["tobor_r300_ag95_ag95"])

2.2 Initialize Tobor

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

SetImmovable: Sets the movability of the base joint

2.3 Drive Tobor to Move

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)

MoveForward: Move forward, the first parameter represents distance, the second parameter represents speed
MoveBack: Move backward, the first parameter represents distance, the second parameter represents speed
TurnLeft: Turn left, the first parameter represents angle, the second parameter represents speed
TurnRight: Turn right, the first parameter represents angle, the second parameter represents speed