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import numpy as np
import dartpy as dart
class MyWorldNode(dart.gui.osg.RealTimeWorldNode):
def __init__(self, world):
super(MyWorldNode, self).__init__(world)
def customPreStep(self):
pass
def main():
world = dart.utils.SkelParser.readWorld("dart://sample/skel/chain.skel")
world.setGravity([0, -9.81, 0])
chain = world.getSkeleton(0)
dof = chain.getNumDofs()
# Set initial pose
init_pose = np.zeros(dof)
for i in range(dof):
init_pose[i] = dart.math.Random.uniform(-0.5, 0.5)
chain.setPositions(init_pose)
# Set joint dampings
for i in range(chain.getNumJoints()):
joint = chain.getJoint(i)
for j in range(joint.getNumDofs()):
joint.setDampingCoefficient(j, 0.01)
node = MyWorldNode(world)
viewer = dart.gui.osg.Viewer()
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([0.8, 0.0, 0.8], [0, -0.25, 0], [0, 0.5, 0])
viewer.run()
if __name__== "__main__":
main()
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