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import dartpy as dart
class HelloWorldNode(dart.gui.osg.RealTimeWorldNode):
# Use this function to execute custom code before each time that the
# window is rendered. This function can be deleted if it does not need
# to be used.
def customPreRefresh(self):
pass
# Use this function to execute custom code after each time that the
# window is rendered. This function can be deleted if it does not need
# to be used.
def customPostRefresh(self):
pass
# Use this function to execute custom code before each simulation time
# step is performed. This function can be deleted if it does not need
# to be used.
def customPreStep(self):
pass
# Use this function to execute custom code after each simulation time
# step is performed. This function can be deleted if it does not need
# to be used.
def customPostStep(self):
pass
def main():
world = dart.simulation.World()
urdfParser = dart.utils.DartLoader()
kr5 = urdfParser.parseSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
ground = urdfParser.parseSkeleton("dart://sample/urdf/KR5/ground.urdf")
world.addSkeleton(kr5)
world.addSkeleton(ground)
world.setGravity([0, -9.81, 0])
# Create world node and add it to viewer
node = HelloWorldNode(world)
# create a viewer with background color (red, green, blue, alpha), here: white
viewer = dart.gui.osg.Viewer([1.0, 1.0, 1.0, 1.0])
viewer.addWorldNode(node)
# Grid settings
grid = dart.gui.osg.GridVisual()
grid.setPlaneType(dart.gui.osg.GridVisual.PlaneType.ZX)
grid.setOffset([0, -0.55, 0])
viewer.addAttachment(grid)
viewer.setUpViewInWindow(0, 0, 640, 480)
viewer.setCameraHomePosition([2.0, 1.0, 2.0],
[0.00, 0.00, 0.00],
[-0.24, 0.94, -0.25])
viewer.run()
if __name__ == "__main__":
main()
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