def main():
root_path = os.path.join(os.path.dirname(__file__), 'assets')
file_path = os.path.join(root_path, 'wam.urdf')
urdfLoader = DartLoader()
urdfLoader.addPackageDirectory("herb_description", root_path)
wam = urdfLoader.parseSkeleton(file_path)
world = World.create()
world.addSkeleton(wam)
viewer = Viewer(world)
if sys.flags.interactive == 0:
viewer.app.run()
def main():
root_path = os.path.join(os.path.dirname(__file__), 'assets')
file_path = os.path.join(root_path, 'wam.urdf')
urdfLoader = DartLoader()
urdfLoader.addPackageDirectory("herb_description", root_path)
wam = urdfLoader.parseSkeleton(file_path)
world = World.create()
world.addSkeleton(wam)
window = SimWindow()
window.setWorld(world)
glutInit(sys.argv)
window.initWindow(640, 480, "Rigid Cubes")
glutMainLoop()