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47 lines
1.4 KiB
Python
47 lines
1.4 KiB
Python
#!/usr/bin/env python
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"""Load the WAM robotic platform.
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"""
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import numpy as np
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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 WAM
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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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robot = WAM(sim)
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# print information about the robot
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robot.printRobotInfo()
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# H = robot.calculateMassMatrix()
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# print("Inertia matrix: H(q) = {}".format(H))
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robot.setJointPositions([np.pi / 4, np.pi / 2], jointId=[0,1]) #2, 4])
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Jlin = robot.calculateJacobian(6, localPosition=(0., 0., 0.))[:3]
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robot.drawVelocityManipulabilityEllipsoid(6, Jlin, color=(1,0,0,0.7))
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for _ in range(5):
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world.step(sleep_dt=1./240)
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Jlin = robot.calculateJacobian(6, localPosition=(0., 0., 0.))[:3]
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robot.drawVelocityManipulabilityEllipsoid(6, Jlin, color=(0, 0, 1, 0.7))
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for _ in range(45):
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world.step(sleep_dt=1./240)
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Jlin = robot.calculateJacobian(6, localPosition=(0., 0., 0.))[:3]
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robot.drawVelocityManipulabilityEllipsoid(6, Jlin)
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for i in count():
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if i%1000 == 0:
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print("Joint Torques: {}".format(robot.getJointTorques()))
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print("Gravity Torques: {}".format(robot.getGravityCompensationTorques()))
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print("Compensation Torques: {}".format(robot.getCoriolisAndGravityCompensationTorques()))
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# step in simulation
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world.step(sleep_dt=1./240)
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