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39 lines
985 B
Python
39 lines
985 B
Python
#!/usr/bin/env python
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"""Load the various Youbot robotic platforms.
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These include: YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm
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"""
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from itertools import count
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from pyrobolearn.simulators import BulletSim
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from pyrobolearn.worlds import BasicWorld
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from pyrobolearn.robots import YoubotBase, KukaYoubotArm, Youbot, YoubotDualArm
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# Create simulator
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sim = BulletSim()
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# create world
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world = BasicWorld(sim)
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# create robot
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youbot_base = YoubotBase(sim, position=(0, -0.75))
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kuka_arm = KukaYoubotArm(sim, position=(0, -0.25))
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youbot = Youbot(sim, position=(0, 0.25))
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youbot_dual_arm = YoubotDualArm(sim, position=(0, 0.75))
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robots = [youbot_base, kuka_arm, youbot, youbot_dual_arm]
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# print information about the robot
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for robot in robots:
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robot.print_info()
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# Position control using sliders
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# robot.add_joint_slider()
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# run simulator
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for _ in count():
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# robots[0].update_joint_slider()
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# for robot in robots:
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# robot.drive(5)
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world.step(sleep_dt=1./240)
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