""" Example 07: BulletLab Arsenal — Direct Loading Demo ===================================================== Loads the BLem1 rover directly from the BulletLab Arsenal registry into a temporary session cache. No installation or manual download is required — the URDF and meshes are fetched on-the-fly and cleaned up on exit. After loading, the full BulletLabUI opens with: - A joystick panel to drive the rover with all four wheel pairs - Live telemetry (position, speed, orientation) - Camera follow in smooth mode - Joint / link hover highlighting Internet access is required on the first run to fetch assets from the registry. Run:: python examples/07_arsenal_loading.py """ import math import sys from pathlib import Path sys.path.insert(0, str(Path(__file__).parent.parent)) from bulletlab import Simulation, Robot, CameraFollow, RobotHighlighter from bulletlab.core.world import World from bulletlab.telemetry import TelemetryManager def main() -> None: print("=" * 60) print("BulletLab Arsenal — BLem1 Rover") print("=" * 60) # ------------------------------------------------------------------ # 1. Simulation # ------------------------------------------------------------------ sim = Simulation(mode="gui", gravity=(0, 0, -9.81), timestep=1.0 / 240.0) # ------------------------------------------------------------------ # 2. Load BLem1 directly from Arsenal (session cache, no install) # ------------------------------------------------------------------ print("\nFetching 'reference_bot/BLem1' from Arsenal registry...") robot = Robot.load( "arsenal:reference_bot/BLem1", sim=sim, position=(0, 0, 0.3), name="BLem1", ) print(f"Loaded: {robot}") print(f" Joints: {list(robot.joints.keys())}") print() # ------------------------------------------------------------------ # 3. World and Camera setup # ------------------------------------------------------------------ sim.set_camera(distance=3.5, yaw=45.0, pitch=-25.0, target=(0, 0, 0.3)) world = World(sim) world.load_plane() # ------------------------------------------------------------------ # 4. Camera follow # ------------------------------------------------------------------ cam = CameraFollow( robot, sim, mode="smooth", distance=3.5, pitch=-25.0, yaw=45.0, lerp=0.06, height_offset=0.3, ) # ------------------------------------------------------------------ # 5. Hover highlighting # ------------------------------------------------------------------ hl = RobotHighlighter(robot, sim) # ------------------------------------------------------------------ # 6. Telemetry # ------------------------------------------------------------------ telemetry = TelemetryManager() telemetry.watch("x", lambda: robot.base_position[0], unit="m") telemetry.watch("y", lambda: robot.base_position[1], unit="m") telemetry.watch("z", lambda: robot.base_position[2], unit="m") telemetry.watch("speed", lambda: robot.speed, unit="m/s") telemetry.watch("roll", lambda: math.degrees(robot.roll), unit="°") telemetry.watch("pitch", lambda: math.degrees(robot.pitch), unit="°") telemetry.watch("yaw", lambda: math.degrees(robot.yaw), unit="°") # ------------------------------------------------------------------ # 7. Identify wheel joints # BLem1 wheels: rear_right_wheel, front_right_wheel, # rear_left_wheel, front_left_wheel # Left-side wheels spin one direction; right-side the other for steering. # ------------------------------------------------------------------ left_wheels = [j for name, j in robot.joints.items() if "left_wheel" in name] right_wheels = [j for name, j in robot.joints.items() if "right_wheel" in name] # Fallback: use all wheel joints if naming differs if not left_wheels or not right_wheels: all_wheels = [j for name, j in robot.joints.items() if "wheel" in name] half = len(all_wheels) // 2 left_wheels = all_wheels[:half] right_wheels = all_wheels[half:] for j in left_wheels + right_wheels: j.max_force = 150.0 print(f" Left wheels: {[j.name for j in left_wheels]}") print(f" Right wheels: {[j.name for j in right_wheels]}") print() # ------------------------------------------------------------------ # 8. UI # ------------------------------------------------------------------ ui = None manual_vel = [0.0, 0.0] # [left_vel, right_vel] try: from bulletlab.ui import BulletLabUI, widgets as ui_widgets, imgui ui = BulletLabUI( sim=sim, robots=[robot], telemetry=telemetry, camera=cam, highlighter=hl, ) ui.start() snap_on = [True] def on_joy_y(v: float) -> None: """Forward (+) / backward (-).""" spd = v * 12.0 manual_vel[0] += spd manual_vel[1] += spd def on_joy_x(v: float) -> None: """Steer right (+) / left (-).""" turn = v * 6.0 manual_vel[0] += turn manual_vel[1] -= turn @ui.custom_panel("Drive — BLem1") def drive_panel() -> None: # Reset each frame so callbacks accumulate cleanly manual_vel[0] = 0.0 manual_vel[1] = 0.0 ui_widgets.toggle_switch( "Snap joystick to zero", getter=lambda: snap_on[0], setter=lambda v: snap_on.__setitem__(0, v), color_on=(0.2, 0.9, 0.4, 1.0), ) imgui.separator() ui_widgets.joystick( "BLem1 Drive", on_y=on_joy_y, on_x=on_joy_x, snap=snap_on[0], size=80, handle_color=(0.2, 0.75, 1.0, 1.0), ) imgui.separator() ui_widgets.text("Left vel", f"{manual_vel[0]:+.1f} rad/s") ui_widgets.text("Right vel", f"{manual_vel[1]:+.1f} rad/s") # Leg controls — continuous revolute joints, no position limits leg_joints = [j for name, j in robot.joints.items() if "leg" in name] if leg_joints: leg_vel = [0.0] @ui.custom_panel("Legs") def legs_panel() -> None: changed, v = imgui.slider_float( "Leg fold speed", leg_vel[0], -3.0, 3.0 ) if changed: leg_vel[0] = v for j in leg_joints: j.velocity = leg_vel[0] print("BulletLab UI opened.\n") except Exception as exc: print(f"UI not available ({exc}). Running headless.\n") # ------------------------------------------------------------------ # 9. Simulation loop # ------------------------------------------------------------------ print("Running simulation. Close the UI window or press Ctrl+C to stop.\n") try: while sim.is_connected: # Apply wheel velocities (updated by joystick callbacks) for j in left_wheels: j.velocity = manual_vel[0] for j in right_wheels: j.velocity = manual_vel[1] sim.step() telemetry.update(t=sim.elapsed_time) cam.update() if ui is not None: ui.step() if ui.should_close: break except KeyboardInterrupt: print("\nStopped.") finally: if ui is not None: ui.stop() sim.stop() print("Done. Session cache cleaned up automatically.") if __name__ == "__main__": main()