mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-08-29 11:24:47 +08:00
36 lines
814 B
Python
36 lines
814 B
Python
#!/usr/bin/env python
|
|
# -*- coding: utf-8 -*-
|
|
"""Get the robot's joint position and velocity states.
|
|
|
|
In this example, we load a Kuka manipulator and print the joint position and velocity states. You can try to move the
|
|
robot and see how it affects the states.
|
|
"""
|
|
|
|
from itertools import count
|
|
import pyrobolearn as prl
|
|
|
|
|
|
# Create simulator
|
|
sim = prl.simulators.Bullet()
|
|
|
|
# create world
|
|
world = prl.worlds.BasicWorld(sim)
|
|
|
|
# load the kuka robot
|
|
robot = world.load_robot('kuka_iiwa')
|
|
|
|
# create joint states
|
|
state = prl.states.JointPositionState(robot, joint_ids=[1, 2]) + prl.states.JointVelocityState(robot, joint_ids=1)
|
|
|
|
# perform simulation
|
|
for t in count():
|
|
|
|
# update the state
|
|
state() # or state.read()
|
|
|
|
# print the state
|
|
print(state)
|
|
|
|
# step in simulation
|
|
world.step(sleep_dt=sim.dt)
|