| import time |
| import numpy as np |
| import rerun as rr |
| from pfp import REPO_DIRS |
| from pfp.common.visualization import RerunViewer as RV |
| from pfp.common.visualization import RerunURDF |
|
|
| panda_dir = REPO_DIRS.URDFS / "panda" |
| meshes_root = panda_dir |
| rerun_panda = RerunURDF("vis/panda", panda_dir / "panda.urdf", meshes_root) |
| rerun_panda_gripper = RerunURDF("vis/panda_gripper", panda_dir / "panda_gripper.urdf", meshes_root) |
|
|
| print("Actuated Joints: ", [j.name for j in rerun_panda.urdf.actuated_joints]) |
| print("Current joint state: ", rerun_panda.urdf.cfg) |
|
|
|
|
| RV() |
| RV.add_axis("vis/origin", np.eye(4), size=0.01, timeless=True) |
| root_pose = np.eye(4) |
| root_pose_gripper = np.eye(4) |
| for i in range(10): |
| rr.set_time_seconds("timestep", time.time()) |
| |
| joint_state = np.ones(7) * i / 10 |
| joint_state = np.concatenate([joint_state, [0.04, 0.04]]) |
| rerun_panda.update_vis(joint_state, root_pose) |
|
|
| |
| joint_state_gripper = np.array([0.04, 0.04]) |
| root_pose_gripper[:3, 3] = i / 10 |
| rerun_panda_gripper.update_vis(joint_state_gripper, root_pose_gripper) |
|
|
|
|
| print("done") |
|
|
