24 lines
824 B
Python
24 lines
824 B
Python
import pybullet as p
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid < 0):
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p.connect(p.GUI)
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p.loadURDF("plane.urdf")
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kuka = p.loadURDF("kuka_iiwa/model.urdf")
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p.addUserDebugText("tip", [0, 0, 0.1],
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textColorRGB=[1, 0, 0],
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textSize=1.5,
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parentObjectUniqueId=kuka,
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parentLinkIndex=6)
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p.addUserDebugLine([0, 0, 0], [0.1, 0, 0], [1, 0, 0], parentObjectUniqueId=kuka, parentLinkIndex=6)
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p.addUserDebugLine([0, 0, 0], [0, 0.1, 0], [0, 1, 0], parentObjectUniqueId=kuka, parentLinkIndex=6)
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p.addUserDebugLine([0, 0, 0], [0, 0, 0.1], [0, 0, 1], parentObjectUniqueId=kuka, parentLinkIndex=6)
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p.setRealTimeSimulation(0)
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angle = 0
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while (True):
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time.sleep(0.01)
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p.resetJointState(kuka, 2, angle)
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p.resetJointState(kuka, 3, angle)
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angle += 0.01
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