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37 lines
815 B
Python
37 lines
815 B
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""Force control: apply no forces/torques.
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Try to move the end-effector using the mouse, and see what happens. Compare the obtained results with
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`force/gravity_compensation.py` and `impedance/attractor_point.py`.
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"""
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import numpy as np
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from itertools import count
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import pyrobolearn as prl
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# Create simulator
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sim = prl.simulators.Bullet()
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# create world
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world = prl.worlds.BasicWorld(sim)
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# load robot
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robot = prl.robots.RRBot(sim)
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robot.disable_motor() # disable motors
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robot.print_info()
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robot.change_transparency()
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world.load_robot(robot)
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# run simulator
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for _ in count():
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# force control: apply no forces/torques
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robot.set_joint_torques(torques=np.zeros(len(robot.joints)))
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# perform a step in the world
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world.step(sleep_dt=sim.dt)
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