bf800e30d5
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful) https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml See also http://www.trossenrobotics.com/widowxrobotarm
22 lines
763 B
Python
22 lines
763 B
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
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p.setGravity(0,0,-10)
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arm = p.loadURDF("widowx/widowx.urdf",useFixedBase=True)
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p.resetBasePositionAndOrientation(arm,[-0.098612,-0.000726,-0.194018],[0.000000,0.000000,0.000000,1.000000])
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while (1):
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p.stepSimulation()
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time.sleep(0.01)
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#p.saveWorld("test.py")
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viewMat = p.getDebugVisualizerCamera()[2]
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#projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
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projMatrix = p.getDebugVisualizerCamera()[3]
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width=640
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height=480
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img_arr = p.getCameraImage(width=width,height=height,viewMatrix=viewMat,projectionMatrix=projMatrix)
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