mirror of
https://github.com/wassname/pyrobolearn.git
synced 2026-09-20 13:11:01 +08:00
31 lines
699 B
Python
31 lines
699 B
Python
#!/usr/bin/env python
|
|
"""Load the Centauro robot.
|
|
"""
|
|
|
|
from itertools import count
|
|
from pyrobolearn.simulators import BulletSim
|
|
from pyrobolearn.worlds import BasicWorld
|
|
from pyrobolearn.robots import Centauro
|
|
|
|
# Create simulator
|
|
sim = BulletSim()
|
|
|
|
# create world
|
|
world = BasicWorld(sim)
|
|
|
|
# load robot
|
|
robot = Centauro(sim) # , useFixedBase=True)
|
|
|
|
# print information about the robot
|
|
robot.printRobotInfo()
|
|
print("Number of Legs: {}".format(robot.getNumberOfLegs()))
|
|
print("Number of Arms: {}".format(robot.getNumberOfArms()))
|
|
|
|
# robot.addJointSlider(robot.getRightFrontLegIds())
|
|
robot.drive(speed=3)
|
|
|
|
# run simulator
|
|
for _ in count():
|
|
robot.updateJointSlider()
|
|
world.step(sleep_dt=1./240)
|