4cfd30f19c
add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
21 lines
395 B
Python
21 lines
395 B
Python
import pybullet as p
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import pybullet_data as pd
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import math
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import time
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import numpy as np
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import panda_sim
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p.connect(p.GUI)
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p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
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p.setAdditionalSearchPath(pd.getDataPath())
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timeStep=1./60.
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p.setTimeStep(timeStep)
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p.setGravity(0,-9.8,0)
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panda = panda_sim.PandaSim(p,[0,0,0])
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while (1):
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panda.step()
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p.stepSimulation()
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time.sleep(timeStep)
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