add trajectory visualization

aaucsd · Nov 14, 2022 · 5d9abe4 · 5d9abe4
1 parent 7afdf65
commit 5d9abe4
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Showing 8 changed files with 136 additions and 396 deletions.
diff --git a/environment/static/dual_kuka_env.py b/environment/static/dual_kuka_env.py
@@ -0,0 +1,19 @@
+import pybullet as p
+from environment.static_env import StaticEnv
+from robot.multi_robot.dual_kuka_robot import DualKukaRobot
+
+class DualKukaEnv(StaticEnv):
+
+    def __init__(self, objects, robot_config=None):
+        if robot_config is None:
+            robot = DualKukaRobot()
+        else:
+            robot = DualKukaRobot(**robot_config)
+        super(DualKukaEnv, self).__init__(objects, robot)
+
+    def set_camera_angle(self):
+        p.resetDebugVisualizerCamera(
+            cameraDistance=1.57699,
+            cameraYaw=203.809,
+            cameraPitch=-30.335,
+            cameraTargetPosition=[0, 0, 0.7])
diff --git a/environment/static/kuka_2arm_env.py b/environment/static/kuka_2arm_env.py