vx300 python examples

Author: dtotsila

src/examples/python/vx300.py

@@ -0,0 +1,28 @@
+import RobotDART as rd
+
+# @VX300_PYTHON@
+robot = rd.Vx300()
+# @VX300_PYTHON_END@
+robot.set_actuator_types("servo")
+
+ctrl = [0.0, 1.0, -1.5, 1.0, 0.5, 0.]
+
+controller = rd.PDControl(ctrl)
+robot.add_controller(controller)
+
+simu = rd.RobotDARTSimu()
+simu.set_collision_detector("fcl")
+
+simu.set_graphics(rd.gui.Graphics())
+simu.add_robot(robot)
+simu.add_checkerboard_floor()
+
+for n in robot.dof_names():
+    print(n)
+
+simu.run(2.5)
+
+ctrl = [0.0, -0.5, 0.5, -0.5, 0., 1.]
+controller.set_parameters(ctrl)
+controller.set_pd(20., 0.)
+simu.run(2.5)

src/examples/vx300.cpp

@@ -8,7 +8,9 @@
 
 int main()
 {
+    // @VX300@
     auto robot = std::make_shared<robot_dart::robots::Vx300>();
+    // @VX300_END@
     robot->set_actuator_types("servo");
 
     Eigen::VectorXd ctrl = robot_dart::make_vector({0.0, 1.0, -1.5, 1.0, 0.5, 0.});