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Examples

Real

This example moves the robot to the preset positions, waiting 1 sec in between each one.

python scripts/real.py

Real.mp4

Sim To Real

This example performs the 3 elemental rotations in sim and real. The simulation generates steps, propagating the joint positions to the Feetech motors.

python scripts/sim_to_real.py
sim real
Sim2Real.mp4
Sim2Real_Real.mp4

Image stream

Genesis camera provides access to each frames rendered by the rasterizer. Multiple types of image are provided:

  • RGB
  • Depth
  • Segmentation
  • Surface

The following script iterates through all the frames, calculating the FPS metric every second.

python scripts/sim_fps.py
...
FPS= FpsMetric(1743573645.3103304, 0.10412893176772242)
FPS= FpsMetric(1743573646.3160942, 59.656155690238116)
FPS= FpsMetric(1743573647.321373, 59.68493363485116)
FPS= FpsMetric(1743573649.8052156, 12.078059963768446)
FPS= FpsMetric(1743573650.8105915, 59.67917299445178)
FPS= FpsMetric(1743573651.8152244, 59.723304924655935)
...

show_fps_video.mp4