🎍 Adds virtual sensors and camera mjpeg stream

2024-03-05 11:35:10 +01:00
parent f28d5e345b
commit 7208cc7b1c
15 changed files with 252 additions and 54 deletions
@@ -0,0 +1,38 @@
+from os import sys
+
+from src.spot import Spot
+from src.IMU.IMU import IMU
+from src.Kinematics.SpotKinematics import SpotModel
+from src.camera_server import StreamingServerThread
+from src.Camera.WebCamera import WebCamera
+
+sys.path.append('../')
+
+from simulation.simulator import Simulator
+from simulation.GymEnvs.spot_bezier_env import spotBezierEnv
+
+from simulation.sensors.camera import PyBulletCamera
+
+camera = PyBulletCamera()
+
+env = spotBezierEnv(
+    render=True,
+    on_rack=False,
+    height_field=False,
+    draw_foot_path=False,
+    urdf_root="..\simulation\pybullet_data"
+)
+kinematics = SpotModel()
+imu = IMU()
+camera = PyBulletCamera() # WebCamera()
+spot = Spot(kinematics, imu)
+
+server = StreamingServerThread(camera)
+sim = Simulator(env, spot)
+
+server.start()
+
+while True:
+    camera.update_view_matrix(sim.env.spot.quadruped)
+    camera.get_image()
+    sim.step(0.01)