Merge pull request #245 from maxspahn/ft-generic-bicycle

Ft generic bicycle

Author: maxspahn

examples/prius.py

@@ -1,11 +1,21 @@
 import gymnasium as gym
-from urdfenvs.robots.prius import Prius
 import numpy as np
 
+from urdfenvs.urdf_common.bicycle_model import BicycleModel
+
 
 def run_prius(n_steps=1000, render=False, goal=True, obstacles=True):
     robots = [
-        Prius(mode="vel"),
+        BicycleModel(
+            urdf='prius.urdf',
+            mode="vel",
+            scaling=0.3,
+            wheel_radius = 0.31265,
+            wheel_distance = 0.494,
+            spawn_offset = np.array([-0.435, 0.0, 0.05]),
+            actuated_wheels=['front_right_wheel_joint', 'front_left_wheel_joint', 'rear_right_wheel_joint', 'rear_left_wheel_joint'],
+            steering_links=['front_right_steer_joint', 'front_left_steer_joint'],
+        )
     ]
     env = gym.make(
         "urdf-env-v0",

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "urdfenvs"
-version = "0.8.18"
+version = "0.8.19"
 description = "Simple simulation environment for robots, based on the urdf files."
 authors = ["Max Spahn <[email protected]>"]
 maintainers = [

tests/test_acc_envs.py

@@ -110,10 +110,19 @@ def albertReacherEnv():
 
 @pytest.fixture
 def priusEnv():
-    from urdfenvs.robots.prius import Prius
+    from urdfenvs.urdf_common.bicycle_model import BicycleModel
     initPos = np.zeros(3)
     initVel = np.zeros(2)
-    robot = Prius(mode="acc")
+    robot = BicycleModel(
+        urdf='prius.urdf',
+        mode="acc",
+        scaling=0.3,
+        wheel_radius = 0.31265,
+        wheel_distance = 0.494,
+        spawn_offset = np.array([-0.435, 0.0, 0.05]),
+        actuated_wheels=['front_right_wheel_joint', 'front_left_wheel_joint', 'rear_right_wheel_joint', 'rear_left_wheel_joint'],
+        steering_links=['front_right_steer_joint', 'front_left_steer_joint'],
+    )
     return (robot, initPos, initVel)
 
 @pytest.fixture

tests/test_vel_envs.py

@@ -103,10 +103,19 @@ def albertReacherEnv():
 
 @pytest.fixture
 def priusEnv():
-    from urdfenvs.robots.prius import Prius
+    from urdfenvs.urdf_common.bicycle_model import BicycleModel
     initPos = np.zeros(3)
     initVel = np.zeros(2)
-    robot = Prius(mode="vel")
+    robot = BicycleModel(
+        urdf='prius.urdf',
+        mode="vel",
+        scaling=0.3,
+        wheel_radius = 0.31265,
+        wheel_distance = 0.494,
+        spawn_offset = np.array([-0.435, 0.0, 0.05]),
+        actuated_wheels=['front_right_wheel_joint', 'front_left_wheel_joint', 'rear_right_wheel_joint', 'rear_left_wheel_joint'],
+        steering_links=['front_right_steer_joint', 'front_left_steer_joint'],
+    )
     return (robot, initPos, initVel)
 
 @pytest.fixture