ccappelle / pyrosim Goto Github PK

I installed pyrosim without problems on my machine (OS X 10.14). When I try to run a simulation, though, I can only see a black window appearing (ODE - Drawstuff). Any idea why this is happening?

EDIT:
Apparently OpenGL has been deprecated from 10.14 in favour of Metal. Maybe that is the issue? How could I work around this?

Is there a way to send springs to the simulator and attach them to objects?

After I updated my Mac, the simulation is only working on the bottom left corner and the rest of the screen is gray . Changing the size parameters in eval does not work

I need to know what direction a body's 'z' axis (0, 0, 1) is pointing
to in world coordinates. If the body has no rotation, the direction is
(0, 0, 1), but if the body is rotated, the 'z' axis is rotated as
well, and is likely to point somewhere else. The ODE wiki says to mitigate this challenge
we can use quaternions dBodyVectorToWorld. I noticed that rotation of bodies is
able to be set via quaternions with other functions. Quaternions are superior to vector3s in my opinion. To be able to leverage them in pyrosim would be amazingly convenient.

(1 0 0 0) - Identity quaternion, no rotation,
(0 1 0 0) - 180° turn around X axis,
(0 0 1 0) - 180° turn around Y axis,
(0 0 0 1) - 180° turn around Z axis,

I have tried to build a human-like robot shape, but stuck with simple
thing not working for me: no sensor data is reported after simulation
run. Even when I run something from demos (like this:
https://github.com/ccappelle/pyrosim/blob/master/demos/double-pendulum/dp-sensors.py),
it prints all zeros instead of actual sensor values.

Can you help me resolving this issue?

Hi,

I look for a way to get orientation data from simulation, like position sensor, but with rotation values. I expected vestibular sensor to offer this, but it seems vestibular only gives single value (and not well explained nature of this value in docs or code docs).

How can I get rotation of object? If there is no such sensor, would it be possible to add one?

Thanks for your project!

Dear ccappelle,
I'm currently working on generalizing locomotion of modular robot using PyRoSim for simple algo. testing. My goal is to apply evolutionary algorithm (such as NEAT) on robot, and I'm wondering if I can reach the sensor data in simulation rather than after the whole simulation done. Can the user extracts sensor data at each time step?

Thanks!!

When I run simulator with attached input, I get SIGSEGV:

Program received signal SIGSEGV, Segmentation fault.
0x0000000000408f86 in NEURAL_NETWORK::Add_Synapse (this=0x6f7b00) at neuralNetwork.cpp:65
65          synapses[numSynapses] = new SYNAPSE();
(gdb) bt
#0  0x0000000000408f86 in NEURAL_NETWORK::Add_Synapse (this=0x6f7b00) at neuralNetwork.cpp:65
#1  0x0000000000407d6d in ENVIRONMENT::Read_From_Python (this=0x6f2c20, world=0x6f2950, space=0x6f2a40, data=0x7ffff51e9010) at environment.cpp:199
#2  0x00000000004049a1 in Read_From_Python () at simulator.cpp:309
#3  0x0000000000404006 in main (argc=1, argv=0x7fffffffdd18) at simulator.cpp:334

2.txt

I installed pyrosim and everything works fine, simulation performs as it should. But when I try to access sensor values from sim.wait_to_finish() they are always zeros.
My code is not the fault, because on another computer it works just fine.
Do you know where the problem might be?