Rune Harlyk
38 lines
882 B
Python
38 lines
882 B
Python
from os import sys
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from src.spot import Spot
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from src.IMU.IMU import IMU
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from src.Kinematics.SpotKinematics import SpotModel
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from src.camera_server import StreamingServerThread
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from src.Camera.WebCamera import WebCamera
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sys.path.append('../')
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from simulation.simulator import Simulator
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from simulation.GymEnvs.spot_bezier_env import spotBezierEnv
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from simulation.sensors.camera import PyBulletCamera
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camera = PyBulletCamera()
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env = spotBezierEnv(
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render=True,
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on_rack=False,
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height_field=False,
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draw_foot_path=False,
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urdf_root="..\simulation\pybullet_data"
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)
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kinematics = SpotModel()
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imu = IMU()
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camera = PyBulletCamera() # WebCamera()
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spot = Spot(kinematics, imu)
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server = StreamingServerThread(camera)
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sim = Simulator(env, spot)
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server.start()
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while True:
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camera.update_view_matrix(sim.env.spot.quadruped)
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camera.get_image()
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sim.step(0.01) |