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36 lines
826 B
Python
36 lines
826 B
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""Get the cartesian position state of an object loaded in the world.
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In this example, we load a sphere in the world which can be moved using the mouse. At every time step, we print the
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cartesian position state of the sphere.
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"""
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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 a sphere in the world
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sphere = world.load_sphere(position=(0., 0., 1.), mass=1., radius=0.2, color=(0.8, 0, 0, 1.), return_body=True)
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# create state
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state = prl.states.PositionState(sphere)
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# perform simulation
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for t in count():
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# update the state
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state() # or state.read()
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# print the state
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print(state)
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# step in simulation
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world.step(sleep_dt=sim.dt)
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