48 lines
1.3 KiB
Python
48 lines
1.3 KiB
Python
#os.sys.path.insert is only needed when pybullet is not installed
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#but running from github repo instead
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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print ("current_dir=" + currentdir)
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parentdir = os.path.join(currentdir,"../gym")
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os.sys.path.insert(0,parentdir)
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import pybullet
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import pybullet_data
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import time
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#choose connection method: GUI, DIRECT, SHARED_MEMORY
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pybullet.connect(pybullet.GUI)
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pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"plane.urdf"),0,0,-1)
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#load URDF, given a relative or absolute file+path
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obj = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"r2d2.urdf"))
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posX=0
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posY=3
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posZ=2
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obj2 = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"kuka_iiwa/model.urdf"),posX,posY,posZ)
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#query the number of joints of the object
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numJoints = pybullet.getNumJoints(obj)
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print (numJoints)
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#set the gravity acceleration
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pybullet.setGravity(0,0,-9.8)
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#step the simulation for 5 seconds
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t_end = time.time() + 5
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while time.time() < t_end:
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pybullet.stepSimulation()
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posAndOrn = pybullet.getBasePositionAndOrientation(obj)
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print (posAndOrn)
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print ("finished")
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#remove all objects
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pybullet.resetSimulation()
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#disconnect from the physics server
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pybullet.disconnect()
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