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🎍 Adds virtual sensors and camera mjpeg stream

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This commit is contained in:
Rune Harlyk
2024-03-05 11:35:10 +01:00
parent f28d5e345b
commit 7208cc7b1c
15 changed files with 252 additions and 54 deletions
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simulation/GymEnvs/spot_bezier_env.py
+1 -1
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@@ -6,9 +6,9 @@ import time
import numpy as np
import pybullet_data
from gym import spaces
import entities.spot as spot
from gym.envs.registration import register
from simulation.entities import spot
from simulation.GymEnvs.spot_gym_env import spotGymEnv
SENSOR_NOISE_STDDEV = spot.SENSOR_NOISE_STDDEV
simulation/GymEnvs/spot_gym_env.py
+5 -4
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@@ -19,13 +19,14 @@ import pybullet
import pybullet_data
from gym import spaces
from gym.utils import seeding
from pkg_resources import parse_version
import simulation.entities.spot as spot
import pybullet_utils.bullet_client as bullet_client
from gym.envs.registration import register
from pkg_resources import parse_version
import pybullet_utils.bullet_client as bullet_client
import simulation.entities.spot as spot
from simulation.GymEnvs.heightfield import HeightField
from OpenLoopSM.SpotOL import BezierStepper
from raspberry_pi.src.Kinematics import LieAlgebra as LA
from simulation.OpenLoopSM.SpotOL import BezierStepper
NUM_SUBSTEPS = 5
NUM_MOTORS = 12