basic_scene.py

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#!/usr/bin/env python3
"""Minimal headless mj_kdl_wrapper Python example."""
 
from __future__ import annotations
 
import mj_kdl_wrapper as mjk
 
 
def main() -> int:
    model_path = mjk.menagerie.model_path("kinova_gen3", env_var="MJ_KDL_MODEL")
 
    spec = mjk.SceneSpec()
    spec.timestep = 0.002
    spec.add_floor = True
    spec.add_skybox = True
    robot_spec = mjk.RobotSpec()
    robot_spec.path = model_path
    spec.robots = [robot_spec]
 
    scene = mjk.Scene.build(spec)
    try:
        robot = mjk.Robot.from_scene(scene, "base_link", "bracelet_link")
        robot.jnt_pos_cmd = [0.0] * robot.n_joints
 
        for _ in range(10):
            robot.update()
            robot.step()
 
        print(f"joints: {robot.n_joints}")
        print(f"joint_names: {robot.joint_names}")
        print(f"q: {[round(x, 6) for x in robot.jnt_pos_msr]}")
        print(f"cameras: {scene.camera_names()}")
    finally:
        scene.close()
 
    return 0
 
 
if __name__ == "__main__":
    raise SystemExit(main())