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37 lines
789 B
Python
37 lines
789 B
Python
#!/usr/bin/env python
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"""Load the Coman robot.
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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 Coman
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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 = Coman(sim, useFixedBase=True)
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# print information about the robot
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robot.printRobotInfo()
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print(robot.link_names)
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# # Position control using sliders
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# robot.addJointSlider()
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robot.changeTransparency()
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# robot.drawLinkCoMs()
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robot.drawLinkFrames()
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# robot.drawBoundingBoxes(robot.right_leg[4])
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# run simulator
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for _ in count():
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# robot.updateJointSlider()
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# robot.computeAndDrawCoMPosition()
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# robot.computeAndDrawProjectedCoMPosition()
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world.step(sleep_dt=1./240)
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