From cad45b9c20b70b6c807380f96426b9264309c1b5 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 22 Jan 2017 19:48:28 -0800
Subject: [PATCH] add test script to move pr2 controller using pybullet (after
 initializing the world using vr_kuka_setup.py

---
 examples/pybullet/vr_kuka_pr2_move.py | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100644 examples/pybullet/vr_kuka_pr2_move.py

diff --git a/examples/pybullet/vr_kuka_pr2_move.py b/examples/pybullet/vr_kuka_pr2_move.py
new file mode 100644
index 000000000..e5a44140c
--- /dev/null
+++ b/examples/pybullet/vr_kuka_pr2_move.py
@@ -0,0 +1,22 @@
+#python script with hardcoded values, assumes that you run the vr_kuka_setup.py first
+
+import pybullet as p
+p.connect(p.SHARED_MEMORY)
+
+pr2_gripper = 2
+pr2_cid = 1
+
+CONTROLLER_ID = 0
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+while True:
+	events = p.getVREvents()
+
+	for e in (events):
+		if (e[BUTTONS][33]&p.VR_BUTTON_IS_DOWN):
+			p.changeConstraint(pr2_cid,e[POSITION],e[ORIENTATION], maxForce=50)
+			#todo
+			#p.setJointMotorControl2(pr2_gripper,0)
+			
\ No newline at end of file