##### About the World ##########################################################
from arboris.core import World
from arboris.robots import simplearm
w = World() # create an instance of world.
simplearm.add_simplearm(w) # add a simple arm robot
# The world is composed of ...
bodies = w.getbodies() # ... named list of bodies
joints = w.getjoints() # ... named list of joints
frames = w.getframes() # ... named list of frames (including bodies)
shapes = w.getshapes() # ... named list of shapes
consts = w.getconstraints() # ... named list of constraints
ctrls = w.getcontrollers() # ... named list of controllers
# And that's all!
print("bodies", bodies)
print("joints", joints)
# These lists are named, so instances can be retrieved as follows:
body_Arm = bodies["Arm"]
joint_Shoulder = joints["Shoulder"]
print("Arm", body_Arm)
print("Shoulder", joint_Shoulder)
# At the beginning, the world has one body corresponding to the galilean frame
galilean_frame = w.ground
# world give access to current time and the number of degrees of freedom
t = w.current_time
##### About the World ##########################################################
from arboris.core import World
from arboris.robots import simplearm
w = World() # create an instance of world.
simplearm.add_simplearm(w) # add a simple arm robot
# The world is composed of ...
bodies = w.getbodies() # ... named list of bodies
joints = w.getjoints() # ... named list of joints
frames = w.getframes() # ... named list of frames (including bodies)
shapes = w.getshapes() # ... named list of shapes
consts = w.getconstraints() # ... named list of constraints
ctrls = w.getcontrollers() # ... named list of controllers
# And that's all!
print("bodies", bodies)
print("joints", joints)
# These lists are named, so instances can be retrieved as follows:
body_Arm = bodies["Arm"]
joint_Shoulder = joints["Shoulder"]
print("Arm", body_Arm)
print("Shoulder", joint_Shoulder)
# At the beginning, the world has one body corresponding to the galilean frame
galilean_frame = w.ground
