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Rename simulation class

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This commit is contained in:
Michel Breyer 2021-05-11 13:58:35 +02:00
parent 8fdd2af05e
commit 914b808179
2 changed files with 3 additions and 3 deletions
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4
bt_sim_node.py
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@ -16,7 +16,7 @@ from robot_utils.controllers import CartesianPoseController
from robot_utils.ros.conversions import * from robot_utils.ros.conversions import *
from robot_utils.ros.tf import TransformTree from robot_utils.ros.tf import TransformTree
from simulation import BtPandaEnv from simulation import BtPandaSim
CONTROLLER_UPDATE_RATE = 60 CONTROLLER_UPDATE_RATE = 60
JOINT_PUBLISH_RATE = 60 JOINT_PUBLISH_RATE = 60
@ -25,7 +25,7 @@ CAM_PUBLISH_RATE = 5
class BtSimNode: class BtSimNode:
def __init__(self, gui): def __init__(self, gui):
self.sim = BtPandaEnv(gui=gui, sleep=False) self.sim = BtPandaSim(gui=gui, sleep=False)
self.controller = CartesianPoseController(self.sim.arm) self.controller = CartesianPoseController(self.sim.arm)
self.cv_bridge = cv_bridge.CvBridge() self.cv_bridge = cv_bridge.CvBridge()
self.tf_tree = TransformTree() self.tf_tree = TransformTree()

2
simulation.py
View File

@ -4,7 +4,7 @@ from robot_utils.btsim import *
from robot_utils.spatial import Rotation, Transform from robot_utils.spatial import Rotation, Transform
class BtPandaEnv(BtBaseEnv): class BtPandaSim(BtSim):
def __init__(self, gui=True, sleep=True): def __init__(self, gui=True, sleep=True):
super().__init__(gui, sleep) super().__init__(gui, sleep)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)