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33 lines
781 B
Python
33 lines
781 B
Python
#!/usr/bin/env python
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"""Load the Allegro hand.
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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 AllegroHand
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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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right_hand = AllegroHand(sim) # , init_pos=(0.,0.,0.), init_orient=(0,0,1,0))
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# print information about the robot
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right_hand.printRobotInfo()
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# H = right_hand.calculateMassMatrix()
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# print("Inertia matrix: H(q) = {}".format(H))
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# Position control using sliders
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right_hand.addJointSlider()
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for i in count():
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right_hand.updateJointSlider()
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# right_hand.setJointPositions([0.] * right_hand.getNumberOfDoFs())
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# step in simulation
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world.step(sleep_dt=1./240)
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