def main():
args = parse_args()
pybullet.connect(pybullet.GUI)
set_minimal_environment()
if args.use_kuka:
robot_path = args.robot_path or DEFAULT_KUKA_ROBOT_PATH
robot = Kuka(robot_path)
else:
robot_path = args.robot_path or DEFAULT_BLUE_ROBOT_PATH
robot = BlueArm(robot_path)
robot.startup(is_real_time=False)
pose_control = PoseControl(*robot.get_pose(), prefix='right')
if not args.use_kuka:
clamp_control = ClampControl(prefix='right')
robot.debug_arm_idx()
robot.get_mass()
while 1:
for _ in tqdm(range(1000), desc='Running simulation'):
position, orientation = pose_control.get_pose()
robot.move(position, orientation)
if args.debug_position:
debug_position(position, robot.get_pose()[0])
if not args.use_kuka:
if clamp_control.close_clamp():
robot.close_clamp()
else:
robot.open_clamp()
pybullet.stepSimulation()
def main():
args = parse_args()
pybullet.connect(pybullet.SHARED_MEMORY)
pybullet.resetSimulation()
set_minimal_environment()
if args.use_kuka:
robot_path = args.robot_path or DEFAULT_KUKA_ROBOT_PATH
robot = Kuka(robot_path)
else:
robot_path = args.robot_path or DEFAULT_BLUE_ROBOT_PATH
robot = BlueArm(robot_path)
robot.startup(is_real_time=False)
robot.debug_arm_idx()
robot.get_mass()
while 1:
for _ in tqdm(range(1000), desc='Running simulation'):
events = pybullet.getVREvents()
for event in events:
_, position, orientation = event[:3]
buttons = event[6]
trigger_button = buttons[33]
robot.move(position, orientation)
if args.debug_position:
debug_position(position, robot.get_pose()[0])
if not args.use_kuka:
if trigger_button:
robot.close_clamp()
else:
robot.open_clamp()
pybullet.stepSimulation()