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import dartpy as dart
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)
print('Robot {} is loaded'.format(kr5.getName()))
for i in range(100):
if i % 10 == 0:
print('[{}] joint position: {}'.format(world.getSimFrames(), kr5.getPositions()))
world.step()
if __name__ == "__main__":
main()
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